Yes

Very very slowly Joey points his cock towards Rachel's pussy. He can't really see that well, so he rubs it up and down between her legs until he feels her wet pussy. He eases himself into it, gently so not to wake Rachel up. When he has gotten the tip in, he stops to check that Rachel is still sleeping.

Rachel is moaning a bit, and she moves as she is entered but she must be dreaming that she is making love since she hasn't opened her eyes.

Joey continues pushing, and he feels his shaft sliding deeper into Rachel. He gets himself all the way in, then pauses and checks that Rachel is still sleeping.

Suddenly Rachel is laughing. Joey freezes, then he hears Rachel moan out:

"Ross, how come you are so big? This feels great."

Joey realizes that Rachel is still dreaming, so he begins pumping in and out.

"Oh my god Ross, keep going, don't stop." Rachel moans.

Joey is pumping away, then suddenly he hears Rachel snoaring again. She really must have been drinking a lot.

Joey pulls out, and considers his next move.