When I was 16, I was going out with this one girl Sibhoen (pronounced Shirvorn). Sibhoen was a cute Scottish girl I was flirting with for the longest time, even when I was dating other girls. Even though I wouldn't admit it back then, I had still never gone past 'second base,' as we called it, or touching the breasts. The heaviest I had done was a year earlier with a girl who got excited, but she started protesting, and the relationship ended awkwardly.
Sibhoen asked me to come to her house one weekend and help babysit her two young cousins from Aberdeen. I was working at a department store at the time, and ended up working late that day, so when I finally came round to her house, she had been taking care of these two young kids all alone for most of the day, and she was really tired out. She didn't even answer the door, and I had to let myself into the flat to find her lying on the couch, with both kids sitting on the floor in front of the telly.
She whispered to me how tiring her day was, and she wanted me to rub her feet. I said I was tired too, but she said she'd make it worth my while. So I sat on the couch, put her feet in my lap, and started to rub them. She complained her feet were cold, so she put a blanket over the top of them.
After working on one of her feet, and switching to the other, her rubbed foot rested gently in my cock, which leapt to attention. With her toes, she slowly massaged my swollen cock ever so gently. Now, here we were, less than two feet away from two young kids entranced by cartoons in front of them, getting hot and bothered. Then she took her other foot, and started kneading my cock and pelvic region. When I looked at her, she barely made eye contact, and when one of the kids turned to look at us, she stopped and we both acted like we were also watching the telly.
Then she took the blanket over her shoulders, and I heard her unzip her jeans. She tapped my stomach to indicate she wanted me to do the same. She slid up closer to me, and I felt her cool feet, still slippery with baby oil, slide under my trousers to my raw foreskin. While her toes rubbed me to exctasy, she rubbed herself in erotic ways. I came pretty quickly. It took her a bit longer.
After the kids left with their mum, we both took a long shower together, and fooled about. We ended up having sex in the shower, which was just great.
We did this act a few times while we were dating, and even though we broke up a year later, I still miss those foot massages.