This event occurred a bit later after I had been away in the service. I was home on leave before headed overseas. I was house sitting in my home town for some of my parents friends so I could hang with friends I’d grown up with. My mom came over from their town to spend some time with me the first day. That evening we went to dinner to a bar/restaurant that was mostly for adults and had a ver nice atmosphere. I had just turned 21 so was able to drink along with mom for the first time ever. I had worn my best clothes and my mom was dressed nicely as well in a silky blouse and skirt with pantyhose. We had dinner and talked about things. When we’d finished eating we stayed to have another drink and talk. My mom surprised me when she asked if I’d dance with her. It was a slow song and we got out on the dance floor. We had our arms around each other and our bodies were pressed against each other. It felt so good to feel her against me. I had begun to get hard and was a bit worried she’d feel it. When the next song came on she said she wanted to keep dancing. We continued to sway gently to the music and she started to move her hands up and down my back slowly. I began to do the same and moved them down until I was touching the top part of her rear. It was amazing to me and I was very hard and I don’t think there was anyway she wasn’t feeling it. When the song ended we decided to head back to the house I was taking care of. She planned to head back home in the morning. We held hands as we headed out to the car and I opened the door for her to get in the passenger side. As she sat in the car I got an incredible view of her upper thighs as she lifted one leg into the car and then the other. I moved my gaze up to her eyes and she had been looking at me as I tried to see as much as I could. She just gave me a gentle smile and said thank you. We got to the house and as it was pretty late got ready for bed. She came out in the same red robe I’d seen her in a thousand times growing up. We decided to sleep in the living room versus the friends bedroom. She insisted I take the couch and she take the floor. I said I’d rather sleep on the floor as well and she said ok. We laid down a big comforter type blanket and each had our own blanket as well. We each laid down on a side of it. I was still buzzing but also very horny after the nights events. She leaned over and kissed me goodnight. I just layed there thinking and getting harder and hard, slowly touching myself right next to her. We had both had 3 drinks so after around 30 minutes I figured she was asleep and rolled over on my side. She was on her side facing away from me. I softly reached over and laid my hand on her hip and softly called her name. She didn’t respond so figured she was out. I began to gently rub her hip and thigh and up her torso. I slid my hand to her front and could feel her small breast through her robe. I did this for a while and knew I wanted more so I got up on my knees and saw that her blanket was off of her lower legs. I first gently slid my hand inside of her robe and could feel her soft breast and slightly hard nipple. I did this for only maybe 10 seconds. Was so intense. I then moved down to her legs and started to feel her calf. Running my hand softly up and down and feeling how soft and smooth she was. I then slowly moved my hand up higher past her knees. Rubbing her thigh and got up to her hip underneath her robe. I move my hand down toward her groin and lifted her robe with my other hand. Peeking under I saw she wasn’t wearing any panties. I could see her pussy from behind and her asshole as well. She had lots of hair but it was the most sexy and arousing thing I’d ever seen. I moved my hand down and gently began to run 2 fingers over her pussy. I was shaking I was so scared but I was already on the verge of cumming at this point. I rubbed her for only a few seconds then I quickly departed into the restroom. I got my shorts down and grabbed my ragging hardon and only hand to stroke a few times before I came more than I probably ever had. I felt like I almost passed out my orgasm was so intense. After I cleaned up I went back into the living room and my mom was still on her side but was now covered completely by her blanket. I laid down next to her and slept till morning. We had a breakfast at a diner and then she had to head back to her house. I considered it a great visit.