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My parents sleep in the nude, and as kids my brothers and I would jump into their bed some mornings to cuddle. My brothers and I did wear pajamas, however. Looking back at this experience, what we did doesn't seem abnormal or creepy to me.
The situation being posted seems uncomfortable to me for two reasons:
1. Skin-skin contact (versus our skin-pajama contact)
2. Age of the woman involved (my brothers and I stopped when we hit puberty)
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