Family Ties/Nudge her shoulder to wake her and ask to get in bed
You poke your mother on the shoulder...nothing. You push her shoulder slightly and she wakes up. "Timmy? What are you doing up." she asks in a whisper.
"I can't sleep." you tell her. She rubs her eyes for a moment "Ok, get in." she says and slides back towards the middle of the bed. You get in and cuddle up to your mother just as you did when you were a few years younger, you always were quite a Mama's boy, although for good reason.
As you get in the bed, the shuffling around wakes up your father, "What's Timmy doing here?" he asks "He said he couldn't sleep." your mom answers. Your dad simply turns and quickly falls back asleep.
You get in the bed with your back to your mother and she wraps her arms around you, pulling you into her tightly. You feel her big soft breasts pressed up against you, the sensation sending signals your rock hard dick. You need to get rid of your "situation" which is why you got in this bed in the first place, hoping to finally get something from Mommy. You wait a while and start playing with yourself, trying to make sure your mother notices which she does. You continue rubbing your hard dick and once you put your hands in your boxers you feel your mom pull you tighter into her. Trying to take this further you keep stroking yourself and your mother starts giving you soft kisses on your neck and cheek.
You decide your goal is to fuck your mommy right here in her bed with your father next to yous.