When my cousin was sleeping, I went into his room, saw his pajamas on the ground, figured out that he must be sleeping nude.
I pulled down the blanket and indeed he was, I felt up his dick and slightly began jacking him off a bit.
After a few moments, I took my own dick out and began jacking off as well. Now that I fully erect I pulled my foreskin back, placed my dick head next to his cut dick, and I had him dock with me.