Question before the post - have any of you had sex or got frisky in public just in the moment without planning?

My experience - So this is from a couple years back with one of my fwb. I met her at a bar after work for a few drinks… we didn’t really have any concrete plans, so we were at the bar enjoying our drinks and random conversations. About 3 hours in, she suddenly nudges my legs under the table with her feet and points me to look in the direction of the washroom - to see a couple sheepishly and hurriedly walking out together from the men’s washroom. Our eyes lit up together, we both hadn’t done anything frisky in a public washroom before and seeing them got us in the mood instantly! (And we were also quite tipsy by this point, which just fueled our horniness even more)

I quickly went to check the men’s room, but there was only 1 stall and it was already occupied, and the smells and sounds really weren’t getting me in the mood. She walked out from the ladies room and what she described was nothing short of a horror scene 😂 So this plan was definitely not going to happen, but we were so drunk and turned on that we just decided to go back to my place, which was about 20 minutes away.

We got in the cab, and were already in the mood! She was wearing a tube top & loose fitting skirt which made things a little easier! I placed my bag in front of her legs (which I thought would give some privacy from the driver) and slid my hand in… up her thighs and into her panty to feel her moist trimmed pussy! In barely a few seconds she was soaking wet and I was 3 fingers deep in her! The driver was glancing from the mirror because of my obvious hand motions, but we just couldn’t care! She just laid back into the seat and enjoyed! A few minutes in and the noises of me finger banging her wet cooch were actually audible enough! She unzipped my trousers and slid her hand in and gave a good few strokes to my hard cock!

We noticed we were nearing my place, and quickly stopped, paid the driver and left the cab, only to notice the lift in the apartment was broken - And we had to climb up 5 floors. We started walking up quickly but by the time we crossed the third floor, I just pushed her up against the staircase wall and we started making out. My left hand grabbed her ass while my right hand got a good grab of her tit. A few minutes of fondling later, I turned her around, pulled her panty to the side and we just started banging raw in standing doggy style! It was definitely audible, but given how late it was we didn’t think anyone would be walking up, besides we didn’t really care in the moment!! Then she turned back around, pulled my pants down and told me to sit on the top step. I did and she straddled me in cowgirl position and started to fuck away! I pulled the tube top down, and ripped the pasties off her nipples and started tongue flicking and sucking them while she continued to grind away. I reclined back a bit after a while, and the site of her grinding on my cock with her skirt and top bunched up around her navel was a site which is still etched in my memory!!

We tired out after what seemed like a crazy amount of time, and the thought of possibly getting caught and thrown out while sobering up prompted us to quickly put out clothes on and walk back up to my place!

The thought of our naked butts on the dusty dirt staircase made us quickly hop in the shower, And we finished each other off with a mutual handie session!!

That was by far one of the most impromptu public sex experiences I’ve had and what a time it was!