up untill not too long ago my "half"cousin and I would have sleepovers nearly every weekend, at night we would look at porn and It wasn't until I had been there on vacation for 3 nights, that I finally was able to jack off next to him, I knew he was interested, as was I, eventually we just started jacking off like we would normally, we NEVER did jack each other off.
I loved the feeling I got when we took our clothes off, sat next to eachother and jerked off. It was never(by some unspoken rule it seemed)ok to jerk off "to" one another, but we both knew damn well what we DID turned us on.
his sister, who was a year or two younger, used to get naked and somehow we only saw her for a minute every time it happend. example: where I lived, there was a DEEP, pool. she and her sister would dive in, and after we had their bathing suits/thongs would go down to their ankles where nobody could see us.
Still all cool people, kinda distanced but in the same down. Nobody talks about it, but you kind of just remember that stuff and remember how fun it was when you were a kid.