This happened a few months before the pandemic when I was invited by my boyfriend at the time to join his family on a road trip.
His parents were at the front with his dad driving and his siblings were in the middle seats which left him and me occupying the back seats. A few hours into the drive after all the excitement had turned to boredom, one-by-one the people in the car began to feel drowsy and fall asleep. As I was slowly drifting away into dreamland my left thigh began to tingle.
It was as if miniature people were ice skating up my legs as my boyfriend began to glide his fingers up my thighs with a gentle caress. I felt myself getting wet as he began to unbutton my denim shorts. At this point I can hear my heart beating so loud as my eyes switched between looking at him and seeing his dad through the rearview mirror. He eventually slid his hand into my panties and when that happened I let out a sigh. It ended up being louder than usual because I saw his dad look back. I immediately closed my eyes and pretended to be asleep while my boyfriend skims across my clit.