This actually started feeling pretty good.then he started to put some vaseline between his thieghs before coming to bed.and made it even more fun.and would last longer since there was less friction. If we heard any noise of anyone waking up, we would just pull away and freeze in place. Then somewhere along the way he came up with the idea that he would wear his pajamas backwards.and i could rub it between his thighs. Some times we would compare sizes under the sheets with our hands. Just being next to a body i would get hard.and he would joke about it. He used to visit us often with his mom and dad, Due to lack of space at our place, I would have to give up my bed to his mom and dad.and he and I would have to sleep on the sofa bed in the living room. So this is when i was about 19 and my cousin who was 18. This happened with a cousin of mine who was a bit younger.