This is about the first time I did it with a friend.
When I was 13, my scout troop went on a winter camping trip. It was pretty cold, with snow on the ground and snow falling. My friend and I had decided while setting up our tent that we would zip our sleeping bags together to help us stay warm at night. Now that I think back on it, I figure he had an ulterior motive, but I didn't even think of that at the time.
We all sat around a big fire before going to bed, and the adult leader warned us not to sleep in the clothes we had been wearing all day, since they had moisture that would make us cold once we stopped moving. He said to either change into dry clothes or just go with nothing at all. I heard one boy next to me whisper, 'nakey, nakey,' and there were several snickers around the circle.
When we retired to our tent, both of us started to shiver after leaving the heat of the fire, and crawled into the joined sleeping bags. 'Better get out of these damp clothes,' my friend said, and we both started undressing. He even pulled off his underwear, so I did, too, and thus we were both totally naked. We were still shivering, so we slid next to each other, which helped, then started wrestling with each other. Boy, it felt neat rubbing our naked bodies together, and neither of us could hide the fact that we had raging erections, which we of course rubbed on each other. I got really turned on, and it was obvious he did, too.
We got pretty warm doing that, and suddenly stopped, facing each other in the sleeping bag. After a quiet pause, he reached for my penis and held on to it. I made no move to stop him, and he started to stroke me. I rolled onto my back to enjoy this new feeling. I was used to masturbating myself, but had never had anyone do it to me. I loved the feeling, and it didn't take long from him to bring me to a crashing climax, and I squirted several small jets of jism onto my stomach, and some ran down his hand. He just held me still until my penis stopped jerking.
I reached for my underwear to wipe up with, and he rolled onto his back, obviously wanting me to return the favor, which I did happily. It was neat to feel his penis in my hand, and I enjoyed giving him the pleasure he had given me just a few minutes earlier. When he came, he really jerked hard, and panted like a dog that had been running. He sheepishly cleaned up, and we lay side by side, with our bodies touching, gently fondling each others crotches as we fell asleep.
The next morning we did it again, and that became one of our favorite activities from then on. We got together for camping trips and sleepovers often, and always did the same thing. It made us really close friends all through high school.