I also wrote another story on this site.
I don't think I have ever told my current girlfriend Stacy about this.
It was when I was about 11 or 12. My best friend at the time, (we'll call her Raquel), and I, used to hang out all the time. One night I was staying the night at her house and we were in the guest type room she had with a computer in it and a bed. A few times before this she asked me if sometimes when things touched me down there if it gave me this really good feeling. I told her that yes I had.
Later on she told me that she had the urge to get that feeling and asked me if I wanted to also. So we both ended up on her living room floor with a couple of pillows and were humping them until we got 'the feeling' as we called it.
Hey, we were only 11, we didn't know it was an orgasm. Anyway, back to when we were at her house in the guest room, this was a little while afer the pillow humping. She tells me that she really wants to get that feeling and asks me if I want to try something. Not knowing what she is talking about I say yes.
She gets on top of me and starts rubbing herself on my abs and stomach. She tells me she wants to do this until she gets the feeling and then she will let me do it on her when she is done. We both went back and forth doing this until she finally asks me if I mind if she takes off her underwear, so it will feel better and that she didn't care if I did or not. I told her she could and then she humped herself on my stomach naked and asked me to touch her titties. I did, and then when she got 'the feeling' she rolled off of me and I got on top of her naked and she did the same thing to me. After the one time doing it totally naked we stopped and put our clothes on and went to bed. We didn't even talk about it again.