He never said it had to be in front of everyone...

You suddenly see the obvious solution. You take Nicole by the hand, and lead her out of the living room towards the bedrooms.
"Hey!" Tom shouts. "Where are you going?"
"You never said it had to be in front of anyone, just that you want to see her dressed like Sarah."
"He's right, Tom." Sarah laughs, and gives a little squeak as Matt squeezes her thigh. "You should be more specific with what you want." She smiles at you. "Don't take too long, you two...."
You pull Nicole into the first bedroom off the living room, and when you shut the door, she gives you a tight hug. "Thanks, John. You're a good friend to save me like that."
"Of course. If you want to strip down, I'll turn around." You hand her the shirt, but Nicole shakes her head, smiling.
"No... the dare said you have to strip me..." she bites her lip. "And rules are rules, John." You are a little taken aback.
"Oh..ok..." you aren't sure how to begin, so Nicole turns around, giving you access to the clasp of her bra.
"Go on..." she looks over her shoulder at you, smiling. "Surely you know how to take a girls bra off.... right?"
You step forward, gripping the wide strap and squeezing to release the clasps in one motion. As the strap snaps open, Nicole gives a little exclamation of surprise.
"How many times have you...?"
"Don't you worry about that..." since Nicole seems content to let you do this, you decide to enjoy it. You slide your hands around her torso until you're cupping her perky tits. They're probably C's if you had to guess, and you slide between the fabric of the cups and her soft, warm tit flesh.
"Mmm...." Nicole gives a little noise of embarrassment... or perhaps pleasure? Your fingers run over her nipples, which are standing boldly at attention. "Ah...." Nicole draws in breath sharply. "..se..sensitive..."
"Yeah?" You decide to give them each a playful pinch before pulling the bra up and off them the rest of the way. Nicole lets the garment fall, and then starts to breathe more quickly as you slide your hands down her flat stomach to her waist, popping the button on her pants and pulling down the zipper. You can feel the soft cotton of her panties, and you slide your fingers under the band at each hip before kneeling to pull down pants and panties both in one smooth motion. You are treated to the very pretty sight of Nicole's round ass, bigger than you were expecting. She has a nice thigh gap, and you can just see the edges of her pussy lips from this angle. Nicole steps out of her pants and turns around. Her bush is neatly trimmed, just a little patch on her mound. You can't help but be excited, despite the fact that this is the body of your childhood friend.
"Do...do you like my body? Is it nice?" Nicole seems genuinely nervous and self-conscious, though she's making no effort to cover or hide herself.
"Yeah... you're body is really nice, Nicole." It felt weird to even say it, but the bulge in your pants confirms your words. You quickly open up Tom's shirt to slip over Nicole's head. It's long enough to make her somewhat modest, ending just under her ass cheeks in the back. She's perhaps even sexier like this than completely naked.
"Thanks, again..." Nicole leans up on tiptoe to give you a kiss on the lips. "A little reward for protecting me."
You both return to the living room. Miranda is sitting close to Tom, and seems to be teasing him. "You know Tom, now that you're **** to shut the fuck up, you're actually kind of cute..." she reaches out to touch his chest. "Too bad we can't make this dare permanent, somehow." Tom rolls his eyes. Matt is now openly sliding his hands underneath Sarah's shirt, whispering in her ear. She seems to be liking what he's saying.
"Ooh... Nicole! Twins!" Sarah pats the couch next to her. "You look cute. You two certainly took your time in there... gave him a little private show, did you?"
You sigh at both Sarah's crude innuendo and the fact that you can't tell if Miranda is just teasing Tom or is legitimately warming up to him. It's your turn to pull a dare, so you grab the hat.