My wife and I had been married for about five years and I still jacked off regularly as she worked also and there never seemed to be enough time. My usual time alone was just after she leaves for work in the morning when I usually have a couple of hours alone.
Our bedroom was on the lower floor and I listened for her car to leave and got naked on the bed, got a pair of her panties on and started to get off. I was really into to it when I heard a throat clear and there stood my wife, wide eyed and looking shocked. She asked in a very firm tone what I was doing and how long this has been going on.
She was not really mad just shocked. She told me it was ok as long as there was no one else with me. With that she sat down and started to pump my dick while asking every question she could think of about jerking off. I ended with a great orgasm and she promised we would do this again but that she wanted to watch me rather than me hide.