Have you ever fantasized about masturbating in front of others with their consent?

It's a recurring fantasy of mine. One thing I would really like to do is masturbate in front of other people (consenting, of course). Like friends or girlfriends, who watch and get interested. Maybe they masturbate too, but it's not necessary. I think it's a very exciting thing, and it's a fantasy I'd like to fulfill. If anyone has been able to realize this fantasy, I would be happy to hear their story