Back in my first year of college I got a new roommate at Christmas time. We soon discovered we had both dated and fucked the same girl the previous semester (not at the same time) But then she started hitting both of us up for random hookups, which was fine with us, but she didn't at first realize we were now roommates.
Things changed when she ask him to meet at our place one time. He told me to "surprise" them by coming to the room unexpectedly. Well I was almost too late and he was blowing his load all over her as I barged in. she then realized we were room mates and we both knew she had been hooding up with the other one for several weeks. Well that seemed to heat her up considerably and she wanted me to fuck her right then and there. Eager to please I obliged. Not really caring or paying attention to the fact we are both standing there but ass naked. as I got to going pretty good he was watching and kind of stroking himself, so she pulls him over and starts nursing on his dick.
Ending up we were on opposite ends of her facing each other and finally it ended up we were leaning forward onto each others shoulders for support. We ended up going back and forth on her til we could neither one keep going. while one was fucking her she was nursing the other ones dick back to life.
I know it may not be what you were asking about but we had a lot of body contact. Not really penis contact. I don't remember thinking much about it, more interested in how much fun it was to have him there vs fucking her by myself. much more intense, many more times, Kind of like a competition to see who would tap out first. I remember a couple ass smacks and such, but mostly just hands on each others shoulders. we were both athletes so being around other guys naked was not even a thought.
This continued throughout the spring semester..