When I was at high school, I’d hang out with my mate, and watch movies at his place in the evening on the weekends.
His sister, who I had a bit of a secret thing going on with, would join us in the evenings, and sit at the opposite end of the couch to me, in her nightie and a blanket. My mate sitting on the other couch, facing the tv, didn’t really see us, or what ended up going on.
When the lights were out, and the movie playing, I’d put my bare feet (I have always had soft smooth skin on my feet) up on the couch towards her, under her blanket.
The first time, I started by resting my foot against the outside of her thigh, and rubbing against her, then crossed over to between her legs.
After a moment – I waited to gauge her reaction, I resumed rubbing against her inner thigh, then making my way higher up. I pressed my toes softly against her underwear, over her pussy. She got in to it, and parted her legs more.