Went through my ex mother in laws underwear drawer, tried on some off her lingerie and wanked over a really nice silk pair of knickers, then I put them all back in the drawer.
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Are you missing the part where she was aware and somehow into this?
Because otherwise thats disgusting and could be scary for her.
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Don’t really care now as she’s me ex mother in law. She would probably have been into it as she has sucked me off!
Jayzus 
To be honest, she could suck a cock! Was way better than my ex
I think it comes down to enjoying it.
As long as there’s consent then its all gravy 
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I was on nights, and she used to watch the kids when the ex went back to work! It’s the greatest feeling ever, being woken with a really warm sensation on your cock, and seeing her slobbering away.