no, it's something that has to develop, like first of all is there a place to do it, then does the mutual feeling develop.
have you given or received un invited touches on ass or tits like in a public area, or work?

this was in Valencia Spain, was at a restaurant w a bunch of other travelers sitting at long tables eating pizza, beer.
pretty much random group - beach side restaurant -
suggestion came up to go skinny dipping, so not really a dare. but I ended up sucking a guys cock on the beach, balls etc.
ever have a sig other watch you do oral on someone else?