See now any regular readers of this blog just read your ask and went ‘Oh no, why’d she say ‘Any condition?’
But okay, challenge accepted.
You can cum, but only by grinding on the edge of a bed. Not your bed. Your parent’s or housemates.
And you’ve got to do it in just underwear.
While they are home.
Have fun, and think more carefully about what you offer next time. It’ll get you in trouble