My dad and I wrestled often when I was a kid and into my early teens. It was always a fun time, good bonding. Always clothed, maybe sometimes just shorts. He was always an athletic and fit guy, and was only 20 when I was born so was a pretty fun and youthful dad.
Anyway, we had not wrestled in years until one time I was home from college (I was 19-20) and we were alone in the house. After my shower one afternoon, I had forgotten something and had gone back to the bathroom to get it, with my towel still on, which I was holding closed with one hand. As I was about to walk out of the bathroom, my dad came in to shower, just wearing a towel wrapped around his waist.
We'd always joshed around with each other, so as I was passing around him, I kind of shoved him jokingly out of the way. He laughed then grabbed me from behind in a full Nelson. When he grabbed my arms, my towel fell to the floor. As we jostled around, his towel also came off. As I was trying to get out of the hold, by bending forward and stretching his arms, I could feel his cock all over my back and ass. Now, we'd seen each other many times here and there, but never close like that.
I was able to push him up against the wall and had his hands pushed sort of over his head, face to face, chest to chest. He is smooth and I'm a little furry, so it was a nice feeling. Our crotches pushed together a few times. I don't think this was sexual at all to him, even though the friction was making us both fluff up a little bit. He got me turned around and then in a bear hug and lifted me up. (He is a few inches taller than me) When he picked me up from behind, one of his hands went into my pubes and then down to the base of my cock. I really don't think he realized it at first? He grabbed my cock (which was getting even harder) for a second or two then I think realized what he'd done and immediately let me go.
He laughed and said that that was enough and told me to to get out so he could shower. I was mortified for getting hard so had already picked my towel up to cover my cock. He did smack my ass a couple of times as I walked out. He turned around to turn on the shower and I could resist, I smacked his smooth ass a couple of times, kind of cupping his cheek a little each time. He was like "okay, okay get out" and laughed.
I went to my room and pumped out a big load, needless to say!