I do it now and again, somestimes its just quicker and discreet to rub myself in my underwear and it doesn't make a lot of mess. My hubby probably does it more often as he likes to use my Hitachi on himself through his undies and I've given him handjobs where it was an easier cleanup for him to cum in his underwear.
When we go out on date nights i often wear wifes french knickers under trousers so wife can wank me off on journey home love feeling of wearing cum drenched knickers
There was an incident on a train where I couldn't wait to get back to our hotel room in London. It was an hour back from Southend on Sea, and hands started exploring and one thing lead to another.
I hadn't really thought ahead to the end, and she didn't have the liberty to dip her head down for it as there were people very near us. Had no choice but to cum in my boxers, which was nice at first.. but then it started getting cold.
Was very relieved to take them off when we got back. Chilly winter day and all and I was wearing jeans.
Sometimes yeah. I live in a busy household, and sometimes, usually late at night, something triggers the mood, maybe something on tele or when browsing the interwebs. I need to tend to things, but also need to be relatively discreet and risk free, works then.
Luckily, it's usually before going to bed, so soon after I get undressed, as it's not a particularly pleasant feeling after the deed.