One of my favourite things is to masturbate watching tv. I often do this in the evening when I'm tired after work, I crash in my pj's in front of a movie or a tv show and start by lightly tickling and running my fingers over my pussy from the outside of my pyjama pants. My clit slowly swells at the attention until it's poking out and I rub it with my index and middle finger, frigging it backwards and forwards. Sometimes I orgasm through my pants, sometimes I put my hands down them.
I've recently started doing this in my boyfriend's presence. When we're cuddling watching a movie I'll start to rub between my legs. The first time he thought I needed the bathroom but I told him that it was nice to masturbate when I was sleepy. He resumed watching the movie but I could feel him getting hard against the back of my thigh. He's told me it really turns him on to be that close to me when I'm masturbating myself, because he can feel my breathing getting ragged when I get close, and my muscles tense and push back against his hard cock when I eventually climax.
Usually after I've come he feels how wet and sticky I am by putting a hand inside my pyjama pants, and then I turn to face him and rub him through his own until he explodes and comes in them. We're more morning sex people than evening (he always wakes hard), and it turns me on in the morning to know he's slept in his wet pyjamas from our session the night before!