I was fingering my wife while she was laying in a sauna. She was not actually asleep. Started with massaging her belly and then slipped my hand into her swimwear bottom. After that started to rub her clit and finally my fingers were inside here. She was enjoying with her eyes closed.
More than once. One of my exes was really into the idea that when one of us wakes up horny at night we can "use" the other. So safe to say I made good use of this agreement.