As far as you can

With Catelyn seemingly asleep you take your opportunity. You slide of your pants and place your rock hard cock in between her buttcheeks. You push her ass together and thrust slowly in between them, like a hotdog in a bun. She starts to stir in her sleep, but she doesn't wake. You feel like it's getting to risky but you continue anyway atleast for now.

You thrust faster between her cheeks, feeling your orgasm approaching closer and closer with each thrust. You continue this for a good two minutes before you explode on your lower back and asscrack. You get off of her and pull your pants off.

You grab a cloth and clean your mess up before she wakes up. After that you pull her dress back down and leave the room.