You got her out of her clothes for more

You moved your hand up under her sweater onto her skin, then down under the waistband of her jeans and panties resting the tip of your middle finger between the top of her crack against her tail bone. She drew in a shallow breath which you took as a cue to continue and began to massage her lightly. She lifted her head from your shoulder and looked at you. A surprised and delighted "Oh!" escaped from her lips and she jerked her hips up against you as you increased the pressure of the massage on her tail bone. She looked at you with widened eyes breathing through her parted lips. You smiled at her as you began to massage up and down over her tail bone, making her hips rock against you and her breasts grind over your chest, which in turn made your cock stiffen against her lower belly even more. You slipped your other hand under her sweater too and made your way to the clasp of her bra. You continued massaging her until she moaned.

You stopped and leaned back a little, looking at her, "Take off your sweater." She reached for the bottom of her sweater and seemed to hesitate, while her chest rose and fell with her quickened breath. You pressed briefly on her tail bone, "Well?"
She jerked her hips with a soft moan and nodded, then as she began to take off her sweater, while you quickly unclasped her bra. She dropped her sweater onto the nearest chair and you tugged on the straps of her bra, "This too."
You grinned as she revealed her wonderful breasts with her pert nipples. "God, you look so sexy," you said as you unbuttoned your shirt, "It's only fair if I join you." You dropped it on her clothes.
You unbuttoned her jeans and lowered the zipper. She began to protest, "But.."
You silenced her explaining, "It's a little too tight on my hand," then pulled her against you. You placed a hand on her breast, trapping her nipple between your index and middle finger. Your other hands slid over her back into her panties, placing your middle finger back. You leaned in and kissed her on her lips and felt her hands move onto the sides of your chest. Your tongue moved against her lips until she parted them then kissed her deeply and pushed her legs apart with your thigh until it met her groin. You felt the heat of her sex through your pants.

You began to massage her breasts, while increasing the pressure of your thigh against her groin and massaging her tail bone. It didn't take long for her to moan again and grind her hips against your thigh. You squeezed her nipple with your fingers while exploring her tongue with yours. Your stiff cock strained against your pants. You continued the massaging until her grinding became more intense.
You broke the kiss, stopped your movements and whispered, "Feel my arousal for you, don't be shy."
She nodded and between pants, she whispered, "Okay." She moved her hand onto your stiff member, her fingertips exploring it. "Wow," she said, "it's big."
"It's nice, isn't it?" you said as you resumed your massages on her breasts and crack. She moaned nodding and her hips started to grind against you again, gradually moving her hand against your cock along with the motions of her hips.
You moaned, "Oh yes, that's it, Lisa, I bet you're very wet now."
She nodded moaning, while you kneaded her breast a little firmer. You kissed her again and her lips parted immediately to invite your tongue. When her moans increased you broke the kiss, let go of her breast and moved your hand between you. You unbuttoned your jeans and lowered the zipper.

"Slip your hand in my boxers and feel the skin of my shaft," you urged her.
She moved her hand up and into your boxers, wrapping her fingers around your member. You reached for her breast and started to resume your massages then shook your head and stepped back, "Wait, this is rubbish. I'm going to take off my pants. Why don't you take off your jeans too?"
She looked at you panting, hesitated for a moment, then nodded and kicked off her shoes. She wiggled with her hips as she pushed down her jeans, which made her breasts jiggle in front of you. You hummed in appreciation and took off your own jeans and boxers. Your cock sprang free and twitched.
You hooked your finger into the waistband of her panties, "No need for those."
She looked at you with a slight worry, "But I don't have any protection."
"Oh, I've got condoms," you said reassuring her.
She shook her head, "That won't work, I get a rash from them."
You thought for a moment about the possibilities and shrugged, "Okay, no problem, but takes these off," you gave another tug on her waistband.
She lowered her panties and let them drop to her feet and stepped out of them. You noticed the darker spot from her juices in the crotch of her panties, then admired her trimmed patch and considered where to continue with her, remaining standing wasn't exactly a good option.