Some time ago I had a 5 year relationship with a straight girl who loved my foot fetish. She loved to have her feet constantly rubbed and tickled. Any time that we were alone and watching TV or whatever, she would put her bare feet in my lap and I would rub, massage, and tickle them for hours. Of course we had lots of sex centered around foot tickling. One night she put her bare feet in my lap and I was really foot horny and in the mood to tickle her feet. Unknowingly she placed the heels of her feet on top of my prick which was still in my pants and which eventually became throbbing and twitching hard. I hadn't intended for it to work out this way, but her feet were extra sensitive that night and when I would scratch her soles she would rotate her ankles in an effort to get relief from the tickling. Her heels would massage my prick every time that she rotated them. This got me really hot so I dug in and began giving her feet an intense tickling. Her tickle spot was just under the ball of her foot and at the top of her arch. I was tickling her there mercilessly with my fingernails. This caused her to step up the pace of her ankle rotations and she unwittingly gave me a gusher of an orgasm...while fully dressed. It was a mess, but a very erotic and gratifying foot tickling experience that just happened to turn out to be sexual. Like I said, we had lots of foot tickling/sexual experiences, but they would be planned and choreographed, so to speak. This was just a pleasant accident.