I'm gonna keep it short. It happened a while back. We had just gotten home from Taco Bell. My friend had went to the bathroom and his sister asked if I could rub her feet. I said yes and as I rubbed them, she asked me to go higher. I did that until I was inches away from touching her panties. She whispered in my ear "it's okay, you can touch me there." I was considering it, but my friend walked back in. We didn't get caught, but I feel pretty crappy now. I haven't seen them in about three years, but I'm glad nothing serious happened.