This happened to me one day when I was at a friends house taking care of his house when they were gone and I was going through her underwear door and she came in and cought me playing with myself with her underwear and she ask me have sex with her
I bet those freshly removed panties would smell so good but i would definitely prefer to have her lay back, spread her legs wide open and let me enjoy her sweet scent and flavour directly from the source.