You and Telemachus are best friends. You have known each other since childhood. Which meant you could freely touch each other (from the waist-up) without either of you caring too much. Which was what he was doing. He did it when he came home after a long day. He always knew you'd be in his room, waiting for him.

You laid in his bed, playing with his hair, as he laid his head on your chest, his hand gently rubbing over and playing with your breast under your clothes. You let him do this because it helped calm his stress and distract him. It wasn't really a sexual thing. He just needed a distraction. And this was the perfect one for him. And you didn't mind.