Many, many, many, years ago, actually I forget how many many's it should be. We had a drunken party...a really good, pig roasting, neighbors won't talk to you for months party...we were young then... I had a fondness for hugging my lovely wife from behind while she did dishes and any chance I could get away with it copping a feel.
lots of very small children in a very small house = very few chances for fun.
Sooooooo I walked into the kitchen that evening and hugged and copped a feel off my brother in laws girlfriend, who was standing at the sink doing dishes and flanked by and talking to my wife and the brother in law who were to say the least shocked and still won't let me hear the end of it... even though I was ruled innocent by reason of drunken stupidity.

PS; I worked with the young lady the brother in law was dating and she wasn't the least put off or angry with me, we are still friends to this day. And share a chuckle when the subject gets brought up.