Five years ago when I had a gf, we were both laying on the lounge floor of her house, she was playing some coin pusher game that she liked on her tablet, and her shirt was hanging partially open, so I do the ((sensible)) thing and slowly slide my hand down her shirt and onto her breast, and I start playing with her nipple. We share our first kiss and go about our day almost like nothing happened.
Five minutes before my parents come to pick me up, and we're making out on the couch, her shirt and bra are pulled up, and I'm licking and sucking on one nipple and toying with the other nipple with a free hand while she's moaning in my ear and essentially masturbating. The doorbell rings, we kiss and say goodbye, and she texts me on the way home saying she was so close to cumming...I still kinda regret her not finishing with me there to help.