When I was growing up, my parents decided to raise my sister and I as nudists. We were home schooled by our mother who was also usually nude and our father would strip down when he got home from work. As a nudist, I was used to being seen naked by my sister, and soon after puberty started I even became comfortable with sporting a boner in front of her. So naturally (well at least it was natural for me) I decided rubbing my boner wouldn't be a big deal in front of her either, but I always had reservations about doing it in front of my parents because somewhere in the back of my mind I knew that might be wrong. So one day I started jacking in front of my sister while we were watching tv together, and I never looked back. I must of jacked in front of her thousands of times. It turned me on to have her there, but I didn't go out of my way to do it near her. I just did it whenever the time was right, and she was often nearby.
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