For some this will be very easy, for some difficult. It just depends where you are.
Start by stripping down to just panties (and a top/socks if you’d like to be all cute like in the picture.) Sit somewhere out in the open in your house. Not in your room, but in a more public place, assuming no one is home.
Sit in this position, with your feet crossed and lifted off the ground, using only one hand to support yourself. With the other rub through your panties with your whole hand, as pictured.
If you have to put your feet down, stop touching. If you cum keep your feet up or stop touching. If you have to switch hands, take a 2 minute break.
Now…enjoy and let me know how it went.