We and another couple were on a road trip. We are very close friends with them. To save money we just got one room to share overnight on the way. It was a 2 queen beds room. We were all tired so fell asleep soon. Each couple on their own bed.

In the middle of the night, I woke up and was checking my phone under the blanket. My boyfriend also woke up due to the light from screen. We started kissing and making out under the blanket. It was dark but still there was some visibility.

I pulled down my blanket and checked on the other bed. They were sleeping with their faces turned on the other side. So we felt we were in the clear. I whispered in his hear "Let's do it". He climbed on top of me and we did missionary very slowly and were as silent as possible (Deep kissing helped to suppress moaning). We were bottomless and blanket was halfway down, so none of our body except our faces kissing was visible. About half an hour later we both came. It was incredibly hot. I checked again and they were still sleeping in same position. I thought we were successful in sneaking. I just let the cum drip on the bedsheet, pulled the blanket up and fell asleep again.

Next morning the other girl pulled me aside at breakfast and ... 🙈🙈🙈

We were half asleep, so we didn't realize the noise we were making. But she heard the noise and it woke her up. She turned and saw and heard everything. Bed squeaking, kissing, moaning, blanket humping.