This happened to me one day when I was at a friend's house taking care of his house when they were gone and I was going through her underwear door and she came in and cought me playing with myself with her underwear and she ask me have sex with her
I bet those freshly removed panties would smell so good but i would definitely prefer to have her lay back, spread her legs wide open and let me enjoy her sweet scent and flavour directly from the source.
My step mother cought me playing with her underwear and she told me she would love to fill my cock in her pussy without a rubber so I jump into her bed and we had sex with her