One night years ago, I was visiting my sister. We had a few drinks and wound up kissing. It turned into us grinding each other. She was on top sometimes and me the rest. We didn't take off any clothes, but we reached under our clothes. We both had orgasms. Her crotch was soaking wet and I had a load of cum in my pants when we were through. We didn't do it again, but we did occasionally rub each other now and then.