So this happened less than a year ago at my friend's house. She invited a bunch of people over to hang out, and because it was the summer a lot of people ended up sleeping over. I ended up sharing a bed with my friend Emily in a room with about three other people.
Emily and I had been flirting the whole night, and by the time we got in bed it was already pretty late and we were both pretty horny. We were spooning and I ever so slowly started rubbing her nipple. And just like that we were hooking up. She turned around slowly, making sure to not wake up anyone in the room, and ever so slowly we kissed, silently. I immediately started getting hard as we made out and rubbed ourselves against each other.
She then rolled on top of my leg, and we continued to make out as I rubbed and pinched her nipples, which got her really really wet and panting. She was just wearing pajama pants and panties, and I could feel her wet pussy on my thigh. She began to rock back and forth on my leg, rubbing her wet pussy on me. At the same time she took her hand and starting rubbing my cock, which was by now hard and dripping with pre cum. All the while we were making out and I was still rubbing her nipples.
She began to pick up speed, grinding on my leg faster and faster. As she grinded faster, she would rub my cock faster and harder, and wow it felt good. She wasn't even directly touching it, it was just over my boxers and it was amazing. She was rubbing faster and faster and panting and we were both so wet, grinding on each other. I told her it was too much and I was about to cum, and she began rubbing my cock faster and faster. She said she was about to cum too, and ground faster and faster. I couldn't take it anymore. I came soooo hard into my boxers, and she didn't stop rubbing. And then I felt her tense up and come all over my leg, making my leg and the sheets completely soaked. She was still panting and rubbing my cock, which was super sensitive by now. I had to grab her hand and tell her to stop she was so into it.
We just lay there in our cum, panting, holding each other. When we finally recovered, we went one by one to the bathroom, still trying to be quiet and not wake up everyone in the room. After we cleaned up, we got back in bed and fell asleep cuddling. To this day, I have no idea if anyone heard us, but so far none of those people who were in that room confronted Emily or me about it.