Lucid Intent? No
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My friends Anthony and Eric, and my brother and I are hanging out at my house. My brother and Anthony are watching the television in the living room; Eric tells me to follow him. We walk to the game room where my bed is located. As soon as I sit down Eric starts groping and touching my body. I tell him that we shouldn't cuddle right now since Anthony and my brother are near. Eric responds happily saying, "That doesn't matter!" Suddenly, we hear Anthony approaching and we act as if nothing was happening. When Anthony is away, we begin to feel and touch each other.