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CFNM
I was once stripped naked from the waist down while driving a car. My co-passenger (a lady) slowly unbuttoned my pants and then slid her hands to feel my privates. Before I knew it, my jeans and undies were around my ankles!
My wife did that to me and then jerked me off while I drove on the interstate on several occasions. She would start by unbuttoning my jeans and then tell me to raise my ** off the seat; I'd comply. She would take them down to my mid thighs and then start caressing my ** to watch me get hard, which she liked doing. Then came the **. Oh, those were fun times.