If you're fondling her breasts while there's other people in the room, you have to expect that she's not going to give a reaction. I know of very few girls who are going to make it apparent to others in a room that this sort of hanky panky is going on - for one, it would be embarrasing for her, plus it would be more than a bit uncomfortable the other people sitting there.
According to what you said, she put your hand on her breast. There is no more sure indication that she wants it to be there. The rest of it is your own insecurities. She's with you, she's kissed you and she does touch you as well as very blatantly encouraging you to touch her. She wants you dude.
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I wake up in the morning more tired than before I slept
I get through cryin' and I'm sadder than before I wept
I get through thinkin' now, and the thoughts have left my head
I get through speakin' and I can't remember, not a word that I said
- Ben Harper, Show Me A Little Shame
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