My step sister and I have always been pretty close. This happened a number of years ago when she was 17 and I was 14. She came home really early in the morning from a friend's house she had stayed over the night before. She had been up all night, so went straight to bed when she got back. I had been kind of lying in bed awake (it was around 10 in the morning) so I went over to see what was up, and to use her laptop. She said she was going to take a nap for a couple hours. She layed down on her bed and her chair was covered with junk so, I sat at the end of her bed with her computer. I just looked around online until I wanted to get more comfortable, (I was in pj pants and a robe and that's it). Then I stretched out and layed across the foot of her bed with my back against the footboard. I was still just goofing around online until I noticed her feet started to move around. Her feet were positioned right in front of my crotch so it didn't take long for me to get hard at them only an inch or two away from my cock.
I thought she was still asleep, so I didn't pay much attention to it. That is, until she pulled her feet up the bed then plunged her bare feet on me. One was on my thigh and the other was slightly underneath my cock. Then to my surprise she started to rub my thigh with her foot. This only making my cock strain against my pajamas. Then she pulled her feet up again and one came down on my bare stomach and rubbed me there too. Each time inching a little bit farther underneath my pajamas. I didn't care about the computer anymore, I just layed there.
Then, finally the moment I was waiting for, she pulled her feet up again and this time her foot came down right on my cock. She started to rub it and her other foot was rubbing my hip bone right next to it. Then she let out a gasp, and as I looked up the bed I saw her laying there rubbing her pussy under her blankets while she gave me the foot job of a lifetime. It didn't take long after that for me to shoot 5 thick hot loads onto my sister's feet and as the first one landed, her body spasmed and she had her own orgasm. I always hoped that she and I could do that again, but it wasn't to be.
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