Yes

In bliss and tiredness you fall asleep.

When you wake up you can see your still ib your parent's room, at somepoint you got a pillow and another arm around your waist, as you look over you see him stirring as well, you look at the clock and see its only been an hour, you start to feel something and realize your ass is rubbing against his dick, he doesn't have another condom but he doesn't need one for that does he. You start to gyrate bringing his cock to life, he starts to open his eyes and realizes whats happening, he reaches down and takes the condom off, then he starts to match the gyrations.

After a minute he glides his hand down your arm and along your side to your ass where he lifts the gown up, exposing your ass, his cock starts to rub against your hole now, finally he lines up his cock to go in