My friend's wife said "it's a dream, this never happened"

Yes, similar situation. My wife's best friend was a constant flirt with me, verbally and body wise, sometimes being topless and even nude when around my wife and me. She was younger and slimmer and constantly sexually teased me - for years. One day while we were visiting her home, she was wearing a short silk kimono and nothing else, her boobs often poking out and her pussy/bush showing when she sat down. She was driving me crazy, looking right at me while spreading her legs to flash her pussy at me across the room. We had been traveling the day before and stayed up very late talking to our friend and drinking some too. My wife fell asleep on the couch and her friend took me by the hand and led me to her bedroom, took off her robe and told me to eat and fuck her. I did. She had 5 orgasms in a row and I filled her 3 times, all in about an hour or two. She said and I said, we could never tell anyone about this. While fucking her, we both simultaneously said, "I have always wanted to do this." Never told. After that, relationship of friends continued for years until her early death due to cancer. I must say, that after that one time, the friend was less of a sexual flirt, but still did so everytime we saw her. My wife tolerated it as just her friend's normal behavior around me.
It's sad to hear about her early death. That must put a tinge of sadness to your memory of her but it's a good memory to have and you know you gave each other a brief but hot moment of pleasure. Although nothing is said out loud, you still looked at each other and smiled.
 
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I've known many men who misread a woman. They see "come ons" when one isn't there.
Having said that, certainly in my younger days I was the opposite. I know I've missed many opportunities because I failed to believe what I was seeing.
But, if you're a level headed man who doesn't usually read too much into things and you've noticed everything that you've written here, then I say, believe what you see.
It's actually a fact that women usually make the first move but they do it in a way that's subtle and not always obvious and us silly men think that we've started it.
From experience I'd say that if your wife and her husband has noticed it, then it's real. Unless they're both the overreacting jealous types.
You should move forward but at this time I wouldn't be telling your wife or her husband. They may cut you off.
Wanting to fuck his wife actually has nothing to do with your friendship. Sounds strange but it's true. But you do have an obligation not to hurt your friend so try and keep anything that happens secret. Also you don't want a natural desire to fuck a woman you like to fuck up your marriage.
When she hugs you look her in the eyes and say thank you. Let her know you like her touch. Try and hug her away from the view of your wife and her husband.
Whenever I was trying to fuck a friend's wife in the past and I've had friends secretly fucking a past wife of mine, I'd wait till a night when you are all having a good time and getting getting a bit tipsy and try and kiss her in a corner somewhere. If she kisses back then tell her you'd like to meet up with her some day. If she kisses back with passion, rub her pussy and grab her ass. If she lets you do that, you're in, unless you fuck it up. You want to be honest and let her know you want to fuck her, not run off into the sunset with her. If she breaks off at the kiss, then back off for a while anyway.
Don't mention anything you do to your wife or partner. I don't think they'd be onboard. Not yet anyway
Thanks for the extensive and useful advise.
I typically do not pick up signals , so me seeing how she acts and indeed even my wife noticing it, does bring confidence that she is deliberatly flirting.
When hugging , she does look deeply into my eyes and smiles immensly. 😁
Next time we are having a party, and being a bit tipsy I'll tell her how hot she is and try to kiss her.