I so wish that was my lingerie clad body you were rubbing up against. I can only imagine how it would feel to have your hard cock pressed up against my pantie covered erection and trust me, I have a hand wrapped around my stiff cock right now as I imagine it...
Just imagine that was me standing next to you. Dressed in my basque and stockings. Our cocks rubbing against each other. Perhaps our hands sharing the caress. Our precum drooling, mixing, lubricating our excited cocks. My hands caressing your lingerie, cupping your balls. Yours touching mine.