Note: This is a true story about a sexual encounter with my cousin, the names have been changed for sake of privacy.
It happened the night after we buried my grandmother. We had gone to my brother John's house to have some drinks and celebrate the life of our beloved grandmother. There were 5 of us there that night, myself, John, his wife Heather, our cousin Sally, and our good friend Ted.
We spent hours sitting around the table, laughing and telling stories and having a good time remembering grandma. In fact we all got rather drunk in the process. It had been a long time since I'd been able to spend a night having drinks with my brother since I'd been away in the military and I was enjoying his company as well as that of Sally and Ted.
Heather called it a night sooner than the rest of us and went off to bed, leaving us still playing cards and drinking around the table. Eventually we all determined that it was time to call it quits and go to bed, so John readied the pull out couch for us and went to bed himself, leaving Sally, Ted and myself to share the couch bed.
We determined that Ted and I didn't really care to sleep next to each other, so Sally would take the middle. I stripped down to my boxers and crawled onto the bed to try and get some sleep. Ted also stripped to his boxers and Sally was down to just her panties and a tank top, having removed her bra earlier in the evening. Then she crawled into bed and lay on her side with her back to me and Ted on the other side of her.
I lay there for a while, trying to go to sleep, and I could keep sensing movement on the bed beside me. The position I was in was uncomfortable, so I turned on my side facing Sally and my arm just sort of naturally came to rest on her hip. I was a little surprised to realize that she was no longer wearing her tank top! Very subtly I moved my hand a little lower down her hip, her panties were gone too!
I could now distinguish the obvious sounds of kissing, Sally and Ted were making out. Then, she surprised me further by pushing her ass into my crotch, grinding it against me. I couldn't help myself, my dick grew hard in response to her pushing back against me. For a few moments I just lay there as she ground her ass against my hardon whilst she continued to make out with Ted.
Eventually I couldn't help myself any more and I pushed back against her as she ground into me. I slowly slid my hand up her side until it came to rest on her bare breast. As she continued to grind into me I squeezed her breast in my hand and twisted her nipple with my fingers. She pressed her whole body into me and arched her back as her hand found its way to my crotch.