I was camping/drinking with a few female friends and playing t or d. One of said friends stole my underwear in an attempt to lure me into her tent which almost worked, seeing as i was intoxicated. (we eventually did it in the future) The only reason we didnt go further was my other friends pulling a major charlie bravo. At some point in the game of truth or dare i dared my friend to, plain and simple, have sex with me. She said okay, and we continued on with the game. When we all went to out tents we changed the sleeping arrangements, and me and the dared girl shared a tent. After a few minutes of laying there i mentioned to her she hadnt done her dare yet. She said ok and got on top of me. You can use your imagination from there.