2 years ago a gal I went to HS and I reconnected. I shared with her a number of things including my nudist lifestyle. She was intrigued and stopped by the farm one day. I was surprised but we hung out for a while having a few drinks. I was nude the entire time. She left and agreed we enjoyed each others' company.
She came by again another day and saw my massage table in my Living Room. She queried if I gave massage which, I said yes. She asked if I would be willing to give her a massage. Next thing I knew she was on the table. I gave her a one hour massage which she thoroughly enjoyed. (I am nude whilst doing this for her)
I've given many massages since then. She doesn't like being covered during the massage and she is nude as well. When I give massage I really get into it and sometimes my body will rub hers. Sometimes a certain part will touch her as well. The 1st time it brushed her fingers and hand she didn't do anything...the next time though she grabbed me and played for a bit. Ever since then my hands and fingers have touched "every" part of her body and given her intense pleasure. She responds in kind with her hands.
My point, two friends have become friends with benefits. We are adults...there are no expectations... we enjoy our physical contact and have fun.