Cut to the chase and try to kiss her.
From Create Your Own Story
You look into Kara's eyes and are pretty sure that you have her right where you want her. She gazes intently back at you as Matt rubs her shoulders. You lean in and plant a kiss on her. She doesn't resist and as your tongue locks into hers you feel her body relax a bit more into the couch. You continue to kiss her and she reaches her arms up to put her hands in your thick hair. Matt takes the opportunity to stop rubbing her shoulders and instead reaches around to start squeezing her perky tits. She murmurs into your mouth and your cock goes rock hard. It looks like you guys are going to be able to pull this off, but Adam is still sleeping just a few feet away.
What's the plan?