In my early 20s, I was at my buddies house, he was taking a shower and I walked in he freaked out a little but. I grabbed the shampoo and continue to shower also, after scrubbing his back and him scrubbing mine, I leaned into him and hugged him with my cock against his ass, he didn't push away nor did I thrust forward. A few minutes later just standing there and facing each other, I hugged him and our cocks touched. We never took it further and I wonder if one of us would have attempted anything how far we would have taken it.