With the wrong person? Are we not talking about a person you're dating that is in bed with you, in underwear?

Guys, if you're seeing someone and you're sharing a bed, and she's in her underwear, there is a pretty good chance that she would be ok with you kissing her. If she's not, it would be clear like the second you make the decision to try, and then you stop.

And ask her why the fuck she's almost naked in your bed.

I mean for fuck sake guys.