I've posted this story before, but it's been awhile and it certainly qualifies. Long ago, in my early 20's, I worked at a survey center (please, control the booing, I didn't sell anything) and had a delightful boss lady who was in her late 40's/early 50's. She always wore business attire, dress or skirt and hose, and was so good natured and charming, had a terrific laugh. Anyhow, one particularly stressful end of month, she came in the small room I'd been assigned to that day and asked how it was going. I exhaled and said not too bad, just was making me tense. She walked over behind me and started rubbing my shoulders, and not just a weak, quickie, a firm, well done massage. I'm sure my eyes rolled into my head and I was sooo loving it, then I thanked her when she stopped. She told me I could return the favor sometime.
Well, the next month, she was the one getting stressed, with new guidelines and meetings with cranky customers. I caught her in the hall near the end of my shift, and asked if she needed me to return that massage. She grinned and told me to come to her office when I was clocked out. I did, almost running to her office. Everyone but her had cleared out of that part of the office, so I had a chance of a lifetime. I rubbed her neck and shoulders, firmly but gently relieving her tension.
After I was done, I sat at in a chair beside her desk, where her legs here crossed, one heel dangling from toes. I told her I'd even give her the full treatment, and grasped her verrry soft, obviously oft-pedicured foot and rubbed it, too. She enjoyed it, but giggled, saying she was really ticklish. I internally grinned evilly, and tickled her for 15-30 seconds, that wonderful laugh bubbling out of her. I decided I didn't want the boss to get too overwhelmed, so I released her. She giggle a bit longer, then told me that she really appreciated it, and gave me a hug goodbye. So, yes, I have tickled a mature woman, but not just that time... 😉