When she walked in on me in her bra and panties I was caught. I had been laying on the couch naked and I started to rub my cock for a sec, and then she walks in while I am stroking my cock.  She walked right up to me and crawls in between my legs, so I spread my legs a little to let her in.  She got comfortable and took hold of my dick and started to stroke me.  She looked lovingly in to my eyes seeking my approval. "You want me to take care of this for you?" All I could do was smile at her and say "I love you sweetheart" and "yes, that would be amazing".