Masturbating in the Back Seat

Back when I was younger, I went to a family reunion with my parents at a park that was about 100 miles away. The plan was to get there early and come back home that night, which went to plan except for one big detail. It was a warm summer day and I spent most of the afternoon in and out of the pool with my cousins. Everything was going normally until the clouds started rolling in and the wind picked up. It was supposed to storm overnight, but I guess it came in faster than they were expecting. Everyone started scrambling around to get everything packed away, and luckily all the food was taken care of so it was mostly just chairs and coolers at that point. I got out of the pool and found my dad, and when I asked where I could get changed he said there was no time. He said to just lose my swimming trunks and just wear the towel since we were going straight home, and it was understandable that he didn't want me wearing dripping wet clothes in his car. Quickly, I ran around to the other side and dropped my suit and wrapped up in the towel, put them in the bag with my clothes and threw it in the trunk. To this day I don't know if any of my family members saw me naked, but if they had no one has ever said anything. We jumped in the car and took off, and luckily everyone left when they did because about 2 minutes later, the sky opened up and started pouring.    After maybe a half hour of driving, my mom had fallen asleep with her head against the door jamb and my dad was concentrating hard on the road. Despite everything that was going on, or maybe just because I was a hormone-fueled teenager, my cock started to stiffen until it was fully engorged, straining against the towel. I tried to ignore it, but the longer I went the more uncomfortable it became. Since the back seat was completely dark, outside of a road light or flash of lightning, I opened up the towel just enough to let my cock spring out, exhaling a breath of relief. Pulsing, I ran my finger underneath the head and down the shaft, which felt amazing. I needed to cum, and I couldn't wait for the drive to be over, so slowly I loosened my towel and opened it a bit, just watching and waiting for a reaction from my dad. When I knew it was clear, I let it fall off of me onto the seat. Save for my Adidas sandals, I was now sitting there completely naked, just inches away from my parents. I couldn't make any big movements, so I mostly just massaged and slowly stroked for a while, which still felt fantastic. Since I couldn't make any noise, every so often I would wipe the precum onto the corner of my towel, just so I wasn't making any squish-squish noises while I stroked. I dont know exactly how long it went on, but when I started seeing some signs I recognized, I knew we were getting close and I needed to finish. I made an OK sign with my fingers and started to quickly stroke at the base, focusing hard on my upcoming orgasm. It took a couple more minutes but finally my toes clenched and I blew a large load of thick cum all over my belly. After I collected myself I wiped it up with the towel and carefully wrapped it back around me. By the time we pulled into the garage my erection had finally gone away, and my dad said the things in the trunk could wait and we all just needed to get some sleep. I went up into my room and closed the door and immediately pulled off the sticky towel and put it in the dirty clothes hamper. I kicked off my sandals and jumped into bed, then started playing with my again-hardening cock. I grabbed a tissue and started masturbating again, this time able to fully stroke and twist around the way I like. After I had finished I was exhausted, so I simply pulled the covers up and slept naked.    The next morning the sun was pouring through my window, no indication of the wild weather we had the night before. Just like most mornings I had another quick orgasm before pulling on some sweatpants and going downstairs. After I finished my bowl of cereal my dad asked if I could help him get the stuff from the trunk, so bare-chested and barefooted I walked out to the garage and we started unloading. When we were done he suddenly said "you know, you're just lucky your mother didn't see you doing that last night" with a wink. I acted like I didn't know what he was talking about and he said "you think I couldn't see you? I saw everything! I do have a rear view mirror, you know." My heart sank hearing that my dad watched me masturbate in his car. All I could say was "I'm...I'm sorry. I'm so sorry..." as tears started welling up in my eyes. He then said "it's ok, I probably would have done the same thing if I were you. Just keep it behind a closed door, OK? And not sitting right by your mother" as he playfuly punched me in the shoulder. I smiled and nodded and we talked about it for a few minutes, and I told him I usually do it about 3 times a day, and when he was my age he did it about 4 and still a few times a week now. I also had no problem in telling him that I did it again this morning, then he just laughed and said he was happy that I wasn't ashamed about doing it anymore.   Later on that day I went back to my room and masturbated again, and when I came back down my parents were in the living room watching TV. He knew what I did and just smiled and winked at me, and I did the same, sharing our little secret between us.