I've done it plenty of times with girlfriends, online with friends, nothing out of the ordinary, except once.

The office that I used to work in, there was a girl that I used to ICQ alot, even though she was in the same room, because we were talking a bit dirt alot. One day she came in wearing overalls, so I convinced her to go to the ladies room and take her panties off, and leave a few buttons on the side undone. That way I could walk over to her desk, and sneak a peak at her bush while pretending to talk about work. In repayment, she had me take my cock out at my desk and stroke it for her while she watched from across the room. It was later in the afternoon, but there were still some people around. I didn't go to completion, but I did stroke for a while. Drove her nuts.