My step-son has been kinda lazy recently, I had to ask him several times to put the laundry away. When he finally did his job he happened to find some of my panties in the laundry basket that I had forgotten about. Apparently this turned him on so much that he couldn't help himself and started jerking off with them. When I walked in the door he was really embarrassed, but I calmed him down and told him it was no big deal. Actually it was kinda cute lol. I decided I would help him out and started jerking him off with my panties wrapped around his cock. I was very supportive of him through the whole thing and really proud of him when he finished!
