Climb on top of her

Joey straddles Rachel's thighs, and begins rubbing his crotch against her butt.

"Man, I can't take this anymore." He thinks to himself.

Joey unzips his pants, and pulls out his cock. It is hard as a rock, and the head is moist from the pre-cum. He starts jerking himself off, starring at Rachel's pussy.

"Why am I jerking of when I am this close to pussy." Joey says out loud.

He gets a bit worried that Rachel would be woken up by him talking suddenly, but she is still asleep.