There is no chronological order to the events I’m describing. Just sharing things that happened and reliving them as I do. At this time, I no longer lived with my parents. They had moved to a town a couple of hours away. I had enlisted in the military and was preparing to report so had just moved what little stuff I had back to their house. It was pretty late at night and my father had gone to bed already. Me and my mom had stayed up watching TV. At some point I looked over and noticed that she had fallen asleep. I started to get horny and as scary as it was I moved over by her. I had gotten completely hard and was very excited yet nervous. I opened my pants and pulled out my erection. She was laying on her side with her knees together and her long red robe slightly open on her legs. Her feet were amazing to me even though I’d never really considered them much. I just sort of moved toward her feet and softly rubbed my erection on them. It was amazing and I’d never been so excited. I decided to be more bold and moved up beside her body. Looking at her I was just filled with lust. I reached down and gently grabbed her wrist and moved her arm up and placed my cock within her fingers. I moved her hand back and forth on my cock about 3 times and could feel I was about to cum. I layed her arm back down, went to the bathroom and came so hard into the sink after barely touching myself. It was so intense I couldn’t believe it. I cleaned up then went back into the living room and woke my mom saying we needed to go to bed. I got no indication she knew anything but thinking back on it, I can’t believe she wasn’t aware of what had just occurred.