Fuck yes!

"I'll go to my room to get changed" you say, but Madison grabs your arm. "No, just change here. It's not like I haven't seen your underwear before" she says with a jab to your shoulder.

"You sure? It'll only take me a minute"

"... I like having you here" she admits.

"Okay, I won't leave." you say, taking off your shirt and your pants. You hear clothing rustle behind you, as you assume Madison is also stripping into her underwear. You try not to picture her perfect curves, her beautiful breasts, her tight little pussy, barely covered up by her lingerie --

Okay, stop! Old ladies, football practice, algebra. Think of something un-sexy, you don't want to have an 'issue' in your boxers.

"Okay I'm done"

You turn around and climb under the covers with Madison. Her bed is pretty big, so at first you leave some room for the Holy Spirit.

She shuffles a bit closer to you, until she's spooning against you. You feel her ass on your crotch, and now it's really time to keep your hormones in check.