Touch her ass?

Rochelle was just hovering there, slowly moving a pile of napkins to the side, and then taking the lid off the sugar bowl and placing a spoon in it. All the while she was leaning over the table, right in front of me.

I reached over and placed my hand on the back of her bare leg, just above her knee. She gasped a little when I first touched her, but then she just stayed there, her hand grasping the sugar bowl, her body leaning over the table.

My hand was sweating a little as I slid it up her leg and under her t-shirt. I felt her panties there and slid my hand over them, feeling her ass cheek under my palm. I squeezed her bum and then slid my hand underneath her panties at the bottom, feeling the smoothness of her ass cheek in my hand. I slid my hand over to her crack and started to slide it down towards her pussy from behind when suddenly the door to Diane's room started to open!

Rochelle jumped back, spilling the sugar bowl on the table. She moved quickly across the kitchen to the sink just as Diane and came out of her room headed for the bathroom. She said hi to her mom, and then went in the bathroom and closed the door. Jenny came out next and sat down at the table. Rochelle came back to the table with a wet cloth and began to clean up the sugar. As she wiped it up, she looked to me and smiled a knowing smile. I smiled back at her.

Diane came out of the bathroom after a couple of minutes and I took my coffee and went to sit on the loveseat in the TV room. Rochelle got a few breakfast things ready for the girls, and then she joined me in the other room with her coffee. She sat down in the chair. She smiled at me and drank her coffee. We just kept looking at each other without talking; her eyes seemed to be straying to the bulge of my erection. There was an open area on the wall above the loveseat, looking into the kitchen, so we could hear the girls right on the other side of the wall.