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I used to massage, at her request, my sister 3 years my elder. She never took all of her clothes off. I would always get an erection and I would always sit on her butt so she had to feel my throbbing member through my pants.
Nothing wrong with it. When we lived in the same house, and my hot older sister worked part time at a pizza place/bar, she'd come home tired and tight. I'd sit her on her bed or the finished basement couch, first massage her shoulders, arms, and go into her zip-down uniform, flip that down so her top was mostly exposed, then lay her down and do her back, legs, hips, waist, and all over body. There were times, yeah, I'd press my hard item onto her and she'd give me a fun "Ooh, ba-bay" response, but, she never denied my massage offer, and, in fact, would sometimes tell me as she left for work "You'll be up (meaning, awake) when I get home, right? Probably going to need you to do your thing".
Last time I did it was after we moved a friend of her's kid to college across state. She was exhausted, so, once we got back to the hotel room, I did the same thing..Sat her on the bed, removed her shorts and tank top, and gave her a full-body, deep, sensual massage that she ate up.