My brother and I used to quietly fool around in the back seat of the car while my parents were up front. It started by me noticing that he tried to put his hand in a place where I would have to sit on them. He would start moving his hands on my thighs or follow the edge of my shorts. He eventually would move his hands and touch me through my panties. That happened for a while before I ever touched him. But eventually, I would put my hands down his sweat pants and give him a handjob. At the time I didn't know that was what you called it, but I use to really like feeling it get hard. I thought he had peed on me the first time he cummed.