Yes

Before he let the cloth slip from his hips, he reached one hand into his pocket, pulling a small square package from it, and held it up so Haley could see. "Ribbed, for her pleasure," the girl read, smiling. "You want to give me pleasure dad?"

"Of course, I want to," Phil whispered, reaching out and touching her bare breast. Haley's nipple hardened immediately at his touch. Haley took the condom from his hand and set it aside, reaching out to help her dad take the rest of his clothes off, while Phil had the easy task of peeling her panties off her hips to tumble to the floor. Their mouths met again, tongues wrestling against each other, and the naked father and daughter tumbled onto the bed, Phil landing easily between the teen's spread legs.