I was out with my wife and one of her friends doing some shopping. One of the things I purchased was a pair of swim trunks. We get back home and the 3 of us are in the bedroom and my wife tells me to try them on again. I was waiting for her friend to leave but she didn't. My wife asked what I was waiting for and when I looked over towards her friend my wife told me to not worry about her. I pulled my pants off and was about to put the swim trunks on over my underwear. My wife asked what I was doing, and noticing me looking over to her friend again, tells me I don't need to be shy around her. She tells me you don't wear those over underwear. She saw my hesitation and in a very angry way told me to take them off immediately and that her friend had seen more than her share of men. I then slipped them off and my junk was briefly exposed to her friend as I put on the swim trunks. I kept looking over at her friend and my wife seemed to be getting very irritated by this. My wife then tells me to take off my shirt and socks so I would be just like I would at the beach. I was embarrassed by her friend seeing my junk so I nervously kept looking over at herd. My wife didn't like this and I don't know what mood she was in but it was not a pleasant one. She suddenly starts yelling at me that her friend has seen more than her share of naked guys and that I am a don't need to worry about her seeing me. She then starts really losing it and starts screaming and swearing at the top her lungs to take the fucking swim trunks off. I had never seen her like this before and did as she asked. She continues yelling that I am to do whatever she asks even if that means being naked in front others. She then says I was to stay the way I was until she she told me otherwise. Her friend wasn't saying anything but did seem to like that I was naked. My wife told me to show her friend everything. I said there wasn't much more for her to see. She turns to her friend and asks if there was anything she wanted to see. Her friend says an erection. I thought her friend would say nothing but she didn't. There I am stroking myself to get hard. I finally have an erection and my wife asks her if there was anything else. Her friend says nothing that wouldn't cause a mess. I remember being shocked and my wife saying we would go to the bathroom. I didn't know if they were serious but I was ordered to lay down in the tub and do what was requested. There I was stroking myself with the 2 of them watching. Shortly I was cumming and extremely embarrassed being watched by them. My wife orders me to have a shower and then tells me if I ever disobey or hesitate doing anything she asks it will be worse next time. When I got out of the shower her friend had left so no more embarrassment occurred. The days that followed had her friend always look at me with a smile. My wife did apologize about what she did because she admitted she made me take things too far.