My Cousin Got Me Hooked

I'm a straight, married male. Coming from a military, catholic family, I have a strong personality and I'm very manly.
When I was younger, I used to sometimes spend a week or two at my grandparent's. My cousin was living there full time so I used to sleep in the same room as him.
I slept on the floor because there was only one bed.
One night, I woke up to strange movements near me. I was sleeping on my side and my cousin was licking my soles softly. He was masturbating, which was what woke me up.
I froze without knowing what to do and just waited until it was over. He finished and climbed back to his bed.
The next morning, I debated over saying anything but the more I thought about it, the more curious I grew. At night, I showered and went to sleep early, but remained awake with my eyes closed. After the longest hour of my life, he carefully crawled down, lifted the covers and started playing with my feet.
The sensations were incredible and I wish I'd had the courage to react openly to his attentions, to tell him how much I enjoyed them, but everything in my head kept telling me it was wrong.
My cousin is gone from this world now, but the memory of his tongue running up and down my soles still accompanies me, specially when I pleasure myself. How I wish I could have experienced what his caresses felt like in the rest of my body.