Whenever my parents aren't around, my brother usually seems to be walking around naked in the house, and occasionally he has a hard-on. I was curious to see him hard so I would try to peek a little without him knowing I was peeking at him. Anyway, he would usually disappear upstairs and I could hear the heavy breathing and noises from the bedroom. I knew he was jerking off.
One night I was sleeping, had been awoken by some noise and had just opened my eyes. My brother was standing in the room looking at me. I sleep nude so I guess he was staring at me while he was jacking off. I was frozen, but not by fear. I lay there and watched him until he came in huge spurts on me, my bed and the floor.
He quickly left the room, and by that time I was so horny, I just had to masturbate. So I did. It was wonderful to have someone adore me like that. I have seen him jerking off a lot since then, and we are both more open about it. I think it is good.