Ok - this post has three parts:

1) A question
2) The story (true)
3) The climax (false)

Part 1 (A Question):

Is there a particular adjective or genre of kink/porn for those who are into casual nudity type situations? For instance, a wife who walks into the kitchen in her underwear when there are guests over, or changes in front of friends. Emphasis on the casual and innocent here, these aren't "dares" and don't typically lead to any sort of more deviant behavior. However I love when my wife is super casual about lounging about in her underwear (think thin tank top & panties) around others either on vacation or when we have guests from out of town staying w/ us and so forth.

Hence, the story:

Part 2 (The Story - this part is a true story)
We were married in a different state from where we live, and as such many of our friends traveled to the wedding. Of course there were those who couldn't make it, and this story is about one of them. This particular invitee was one of my good friends from college who now lives a separate life from us in another part of the country. He happened to be traveling internationally at the time of our wedding, and thus was not able to attend. On our return flight home, he sent me a text while we were literally on the plane waiting to depart asking if he could arrange his itinerary to visit us on his way back through to the states. I honestly ignored the message because I was exhausted from the wedding and travel, just figuring it was one of his schemes and I could blame the lack of response on being in the air. However, he also texted my wife, and she enthusiastically invited him to stay with us a for a couple of nights. We were scheduled to depart for our honeymoon about a week after we returned from out wedding, so I was a bit grumpy about the whole deal, since I really just wanted to get caught up on life before we left again, and I knew his visit would be fairly disruptive, (he's a guest who is always looking to go out and do stuff - so I knew it wouldn't be a chill visit). I expressed as much to my wife and she promised it would be fine, that I could get work done and she'd entertain him. He was also not set to arrive until very early the next morning like 2 or 3 AM.

So we eventually got home and went to bed, and she promised she would deal with letting him in the house and everything that goes along with that. Backing up a bit - I've always loved when my wife was casually naked or lounged around in her underwear around others (hence the question) - which she knows. She also knew I was not super happy about having a guest at that particular time. So long story short, in order to get me feeling better about the whole thing, when my friend arrived later that night/morning (we were in bed) she went to greet him wearing just a white tank top (no bra) and cheeky black lace panties. Hearing the knock at the door, and then seeing her leave the room like this, I was out of bed to watch what transpired between the two! It was super hot watching her let him in and the two of them embracing w/ her in her underwear, and suffice to say, I was no longer sour about him being there!

Part 3 (The Climax - fantasy)

I got up and needed to get some work done the next day, leaving my new wife and friend to hang out. We live near lots of outdoor activities, so I knew they'd probably go hike or whatever for the day. They knew each other fairly well and were obviously comfortable around each other. When I returned home from work that day, it was obvious they had returned from whatever adventure they were on. After poking around the house and not finding them, I went out back where they were in the hot tub. Apparently he had not packed his suit, and just went in his boxers - and I guess so he didn't feel embarrassed my wife was similarly barely dressed in only a thong, with their clothes in a pile next to the tub. Of course my wife knew I would be super turned on by the whole scene, but I think my friends was concerned I'd be upset - so he started trying to explain, but I simply undressed and joined them.

They started telling me about their day, and my wife who must have been feeling extra frisky started rubbing between my legs with her foot (we were across from each other). At this point, I knew it was on, and asked my wife if she'd go grab some drinks. I had taken the seat in the tub farthest from the steps, so I knew she'd have to cross my buddy to get out. I'm not sure if she did it on purpose, or if space was just cramped, but she definitely brushed him with her tits, and put a hand on his shoulder getting out of the tub.

She returned with a round of beers, which we made quick work of. They had started drinking earlier than I and by now she was a bit tipsy. I remarked that she might as well grab another round and lose the thong in the process, which she acted put off by, but I could tell wanted to make a show out of taking it off. She got out once again, turned around towards ass, and dropped the thong to the ground and kicked it at us. It landed in the water and we both just kind of looked at each other - at that point I gave him a nod of recognition like "go for it" and there was mutual understanding what was about to transpire.

She came back with another round of drinks, but at that point, no one was thirsty. She got back in the tub, once again using him for support. I had repositioned myself so she would have to sit between us, which she did. I then started getting a bit handsy with her, rubbing her neck and shoulders - then started rubbing her breasts. By this point she had a hand between both sets of our legs and he took the other breast in her hand.

It continued like this for a bit, until neither of us could take it, at which point we all get out and went inside where she finished us both off (me cumming inside her from behind and him in her mouth).

He flew out the next morning - and we had the hottest honeymoon sex that next week inspired by our recent guest.