This happened once when I was at a friends house. We were just sitting around and we started playing truth or dare. It was my turn and I dared him to go under his bed, and stick his arm out holding his underwear, and he did. Then he dared me to stick my hand down his pants and feel him, and he laughed and said it tickled.
Then he picked truth, but then I picked dare and he dared me to let him feel me and he went under the bed and grabbed my dick and OHH it felt so good. But all he did was just hold it and so I pumped his hand gently and came all over his hand, then it was his turn but my mom called me home.
But don't worry there are more stories to come.