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When ever I spend the night at my best friends house I always get the urge to touch his penis while he is asleep.
Mind you we are both guys.
It's normal to fantasize as long as you don't act on it and get yourself charged for sexual assault.
The urge is normal but acting on it when someone isn't in a position to consent is sexual assault
Normal but gay. Gay is normal. I personally have touched my best friend's penis man times when he was sleep. I used to be jealous that his girlfriend got to experience this side of him and I always wanted to know what he was working with.
while sleeping, spoon him enough to let him feel your erect log up along side his body..perhaps slide your hand up and down his leg slowly, see if he responds.If you say anything, he may reject you. You and him could suck each other off quietly without saying a word and then go back to sleep..this happened to me at camp because my 13 year old friend wet his bed. He asked if he could share my bed. He has a slight odour of pee on his warm skin which got me hard in seconds. He left his et pj's on the floor. I took mine off and lay naked beside him. We got so hard it hurt.
Everytime my cousin would sleep at my house in the seem bed I'd get a tickling sensation on my penis when I was asleep.
If he's sleeping in your bed I would assume he's a close friend that you can be honest with. I think I would figure out a way to talk to him about mutual activities first.
Admit to yourself you are gay and wake him with a BJ. Unless you are afraid to come out. Best case he will like it. Worst he will kick your ass and tell everyone. Your choice.