Naked and masturbating at a party [FFM]

A few years ago I went to a party with a group of friends. Towards the end of the night it got down to just five of us, two girls and three guys. Someone suggested we play strip never-have-I-ever, which is like regular never-have-I ever except instead of putting fingers down you take off a piece of clothing. We all sat in a circle on the floor, and after just a couple rounds the guys were completely naked, and the other girl and I were just in our underwear, that’s when we decided to switch to truth-or-dare. When it was my turn, I chose “dare” and one of the guys dared me to take off my underwear. I undid my bra and threw it on top of my pile of clothes behind me. “Panties too” he said. I got up on my knees, and keep my legs together slid my panties down, sat back down, swung my legs to the side and slipped them all the way off. When it was one of the guys turn he picked “dare” and someone dared him to streak around the parking lot. He got up, walked outside, then ran a lap around the parking lot while the rest of us crowded around the window watching and laughing. When he got back, we all sat back down and it was the other girl’s turn. As the only one left with any clothing on, she also got dared to get naked. After a another round we all got bored and decided to watch youtube on the big TV. After a couple random videos one of the guys decided he was tired, got dressed and left, leaving just four of us. The guy who’s apartment we were at got up and started cleaning up all the empty beer bottles, while the other guy fell asleep in a big arm chair.