Offline/Let Nicole lead
Best to let Nicole direct this for now. You’re not sure what she wants, and perhaps neither does she, but just making out with a girl wearing nothing but underwear is astounding in and of itself.
You keep at it for many uninterrupted minutes. She takes off her glasses. You experiment with tongue. She pulls on your hair. You trace the edges of her panties. She claws at your stomach and squeezes your bicep. All of this is new to both of you and you happily drink in every fleeting moment.
“I don't think I want to do it,” Nicole announces, finally pulling back for air.
“Do what?”
She squirms a little. “Y’know... ‘’it’’.”
“Really?” The question isn’t one of disappointment, although kind of. You were mostly surprised that she was considering it this whole time. You never pressured her so it kinda came outta nowhere. But what else do two mostly naked people end up doing after making out in bed?
“I dunno, I just... I'm not ready.”
You ponder that for a moment. “You need me to eat you out first?” you ask, drawing on porn as your only reference for this sort of thing.
“No! I didn't mean it like that! I just don't know if I should be having sex yet.”
“Oh,” you reply, deflated. “Um... well... I'm still willing to try eating you. If you want.”
Nicole bites one side of her lip trying to contain a smile. But it's more bashful than naughty. “Nuh-uh. That's so embarrassing.”
“I'm okay with kissing too,” you quickly backtrack, willing to do anything as long as it's with her.
“Yeah. Me too,” she replies, and brings her lips back to yours. She kisses softly at first then works up close to her once frenetic pace over the next few minutes. She starts humping your leg again and you have to wonder if it's something she thinks is more subtle than it is or if she's not even doing it consciously.
Despite picking up where you left off, it feels like Nicole is preoccupied compared to her frenzied attack on your face a short while ago. She eventually pulls away and reveals what she's really been thinking about.
“How about... You can touch me... If I can touch you. But... only over our clothes.”
“Y-yeah! Deal.” It seems kinda silly. It’s not like you're wearing much. But it's still exciting.
You waste no time planting a hand against her chest to continue groping her boobs like before. Nicole is much more hesitant, staring down your body. It’s obvious where she’s looking. You know she wasn't asking to touch your belly button. She wants to grab your D. But it's clearly intimidating for her and she thinks hard about doing it while you squeeze her tiny titty.
It's a long ten seconds before she goes for it, leaving you worried for a moment that she'd back out. She reaches her arm down and hovers above the tent you've made of your boxers. Carefully she pushes down, her palm pressing into the underside of your cock as she flattens it against your stomach. There’s just enough give in your boxers for her to do that comfortably, the fabric stretching over the top of the waistband.
Her hand runs up and down your stiff cock that has been patiently waiting for some attention. But that's just a tease, her palm moving around your head then sliding down to cup your balls. You're not complaining, but of course you want more.
You crane your neck up to your cousin and kiss her again. With your hand on her boob and hers on your dick, having your lips touch is more electric than before. But there's no doubt that this kiss is even sloppier, both of your attentions fixated on the others’ parts.
After a minute the gentle caress of your cock is driving you crazy. You have to help her out.
“You can squeeze it too,” you offer.
“Oh... okay.”
You watch Nicole experimentally curve her palm trying to grab you timidly. But she soon takes the invitation and does her best to wrap her fingers around the shaft. She can't grip you fully, the fabric of your boxers impeding her, but it's a far cry better than before. She gives a few little pulses then rubs you through your boxers again, working your shaft jerkily but with care.
You love Nicole's boobs, tiny stiff nipples atop pocket-sized titties, but you want more. It takes a minute but you stealthily work your other arm down between the two of you until you're able to cop a feel of her crotch. She gasps out loud in shock, like she never expected that as part of the deal, but squeezes your cock harder after your fingers press down on her soft mound.
Nicole shoots down to you again, kissing with renewed vigour as you rub and grope one another. Her legs start freaking out a bit and her hips twist and roll in weird ways. It's almost as if she’s trying to grind herself against your hand but somehow also avoid your fingers at the same time. Your digits are curled around her surprisingly squishy lips and your fingers find a spot on her panties that are quite wet, practically soaked through.
You try to hold back. You try not to. But it snuck up on you and you haven't jerked off in days, almost a week. Both boobs and pussy in your hands, your dick getting rubbed, all while passionately kissing the forbidden fruit of your younger cousin's lips, it’s all too much for your hormone laden body to bare. You grunt and groan, fighting desperately, but with a few bucks of your hips and a guttural moan you're suddenly cumming through your boxers, cock spasming in your cousin’s grip.
Your whole body stiffens while Nicole continues to rub your cock, almost confused why you've stopped kissing her. She recoils when she realizes what just happened. But she looks mostly apologetic, and nearly mortified.
“Did you... Did I... give you an... orgasm?” She practically mouths the word she's so quiet.
You nod, ashamed, still catching your breath.
“I'm so sorry! I didn't mean to! It was... just an accident!”
You feel like you should be the one apologizing. “Um, it's okay? I was just really excited.”
Nicole scrambles up and jumps to your bag. She rummages around, pulls out a fresh pair of underwear and hands them to you. She's blushing like crazy. “Here.”
“Thanks,” you reply, more for the orgasm than the underwear.
Nicole turns away to let you change. Her legs cross, thighs rubbing and squeezing each other. You slip out of your messy boxers using them to wipe up your jizz as best you can. Some of it dribbled through the fabric and onto your stomach but most of what didn’t get caught in the material slid down to your pelvis. You clean the cum from your short pubes as best you can, feeling a sense of urgency doing this with someone’s back turned. Part of you wants to explain that you don't normally cream your pants so easily, but it's also hard to back up that claim when you have no experience with this.
With fresh boxers on you give Nicole the all clear. She turns to face you but her face is still blushing a deep red. She turns off the flashlights then timidly slips back inside the sleeping bag, pulling the flap from across your body.
“You're okay, right?” you ask concerned.
“Yeah.”
“You're not mad?”
She pulls her arms in close, laying on her back. “No.”
“You're sure?”
“I just... I didn't mean to do that. I shouldn't've done that.”
So that's what it is. You still haven't fully wrapped your head around it, but it seems like she's upset that she jerked you off. Despite it being her idea.
“I know. It's okay. Really. I liked it,” you assure your cousin.
“Yeah... me too,” she finally admits.
“I can still... you know...” you try to offer.
“G'nite,” she quickly replies.
“Okay. Night.”
You lay together awkwardly for a minute, trying not to move again. Then Nicole turns into you, kisses you on the cheek, and wiggles her way into your side. No doubt she's struggling with this. You can't say you're not conflicted, developing feelings for a family member, but you're definitely more willing. You're also exhausted now. After a long day, tons of tension, and having come down from your orgasm, you barely have time to think before you fall fast asleep with the soft skin of your cousin warming one side of your body.
---
You awaken to the sound of heavy breathing. It's a muffled sound, but quite fast. But maybe more surprising is the hand resting on your morning wood, if only because it isn't your hand.
You try not to move, opting to fake sleep and figure out what's going on. Stealing a peek, Nicole is still angled towards you in the sleeping bag but her face is pointing down into the pillow, practically panting. Her one arm is resting across your stomach inside the sleeping bag to allow her to lightly grip your cock, fingers feeling its stiff contour and barely discernible ridges through your underwear. Her other hand is wedged between you two, tucked inbetween her legs and seemingly very active.
As minutes pass by she softly whimpers into your pillow. She's very worked up, and probably close to finishing. It could be fun to ‘wake up’ right now embarrass her a little, but maybe you should just let her finish.