A reader requested better stories than 'ho-hum' cousin walks in on you masturbating/joins up. This is my response, this actually happened:
My cousin visited the town I live in recently to visit her friends, I wound up meeting up with them at a late night bar. She had slept at the friends' house the preceding night, but for whatever reason, at the bar she announced in front of her friend and me that she'd be spending the night at my place. I was kinda shocked, but like whatever, fine.
Mind got spinning a little but didn't think anything too much of it. When we got back to my place we wound up on my couch together. I woke up to myself fingering her over her panties. She wasn't stopping me and I wound up masturbating her to orgasm, again, just over the panties, but she was extremely wet.
She did NOT return the favor, however and I moved back to my own bed. Not a word about it has been said since, I still wonder if that will be our final (and only) encounter.