Family Ties/Make your way into bed with mom

You decide to ignore the sound from Heather's room and continue to your parents' room. You sneak down the hall trying not to wake anybody. You get to the door and you slowly twist the doorknob. Cracking the door open slightly, you look inside before entering and see that both your mother and father are fast asleep. You step inside the room and close the door and walk over to your mother's side of the bed. She is asleep laying on her side, as you get closer you notice she has nothing under her nightgown and her sleeping position has her tits about to bust out of it. You stand there staring at your mother, rubbing your dick through your boxers as you decide what to do next.

Nudge her shoulder to wake her and ask to get in bed

Have some fun with her in her sleep