Tom

"Tom!" Miranda smiles. "Since you've been feeling left out, and since Sarah is feeling passed over, I dare you to undress her until she's down to just her panties." She gives Sarah a look. "Take your time, really savor it, and make sure everyone gets a good view!"
"Hey!" Sarah gives a squawk of protest. "You can't... that's not..." she realizes quickly she doesn't have a leg to stand on after stripping Miranda herself. "Oh, whatever."
"Sounds great." Tom stands up, pushing the closet door closed. Something you can't hear passes between Miranda and Tom when he does, and when he turns around, he's grinning like a cat.
You settle down into your seat to watch the show as Tom starts to run his hands over Sarah's body, making a great show of "looking" for the clasp of her waistband, but really just taking the opportunity to fondle the busty girl.
"Are you ok?" Nicole leans over to ask you quietly. Some muffled noises are beginning to emanate from the closet that you can't quite identify. Perhaps there had been a bump, as if someone lost their balance? Tom had his hands in Sarah's pants now, and seemed to be doing anything but taking them off. Sarah's eyes were practically closed, and she seemed to be leaning back against Tom.
"I just... I don't know why..." you respond quietly. "Why Matt would take Miranda into the closet. He's in love with Sarah, or at least I thought he was. And besides..." you swallow hard, "He knows that I have a crush on..."
Nicole gives a little laugh. "Dude, everyone knows that except her, I'm pretty sure." Nicole is talking to you, but her eyes are more and more focused on the show as Tom slides his hands up under the cups of Sarah's bra, groping her tits.
"Ahh...Mmmmmph.... she...that little... Ahhh... she told you about my nipples, huh?"
You don't hear Tom's response, but you can figure it out. Sarah's knees are wobbling, and she's biting her lip. She begins to pull at her own buttons, but Tom stops her hands.
"I have to do it, Sarah. That's the dare..."
"Look..." Nicole seems a little breathy. Her cheeks are a little flushed, too. "I'm sure you have nothing to worry about. It's just a game, just some dares. None of it means anything, and I'm sure he won't do anything... drastic."
"Careful..." Miranda's muffled voice leaked from the closet. Matt's voice responds, and you think maybe it was an apology.
"I guess you're probably right..." you try to relax, and even enjoy the scene in front of you. You despise Tom, but it is definitely hot watching Sarah get manhandled, and Nicole, to your great surprise, seems to agree. You almost gasp when you realize her hand has found its way into her own waistband. You would never in a million years have predicted that your prudish little childhood friend could act so lewd. She was revealing a new side of herself. You know for a fact, or at least, from her own words, that she's never done more than given a blowjob, and gotten fingered. She claims that she's never let a guy go down on her.
Finally, Tom begins to actually get to the task of his dare, slowly peeling Sarah's pants to reveal her matching panties. She's wearing a simple cotton thong, and Tom turns her around to show off that round, slappable ass while he works the clasp of her bra. He's also nibbling at her neck, eliciting soft moans.
"Why can't I have a body like that..." Nicole muses to herself, almost too quiet for you to hear. There are no audible sounds coming from the closet now, except the occasional huff of breathing that sounds like Matt.
"You have a perfectly nice body..." you answer without really thinking. Immediately you look at her in mortification, but she only blushes and smiles.
"Thanks, John. You're sweet..."
Eventually, Tom completes his task, dropping Sarah's bra onto the growing pile of discarded clothes. Sarah's eyes open. "That was more fun than I was expecting."
"Just wait till later, baby. You're going to have plenty more fun when I..." Tom is grabbing at his tent pole when the buzzer goes off on Sarah's phone, buried in her pants pocket in the pile of clothes.
"Time's up! You two better get decent in there!" Sarah shouts as Tom moves quickly to grab for the closet door, hoping to expose some lewd act.