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Got caught but Mom said it was OK
When I was 15 years old I would strip naked at home after school and masturbate in my room. After a while I got more daring and would roam the house naked and play with my self in every room until Mom got home then I would run upstairs and hide in my room and clean up and get dressed for dinner.
One day while totally naked and masturbating in the basement I heard noises upstairs and listened at the bottom of the stairs, Mom came home early and I was trapped in the basement and the only way up to my room was through the house.
I hid hoping she would think I went out, but she came downstairs with a laundry basket and started doing the wash. I crept around behind the boiler and thought I could sneak up stairs but she turned around and saw me.
I froze and she started yelling at me and told me to kneel naked in the corner until she was through then I was going to get punished. After about 15 minutes she came over and told me that it was natural but to be more private and rubbed my head and said if I wanted to walk around the house naked it was all right with her as long as nobody else could see me. She encouraged me to stay while she finished laundry and I even helped her fold clothes in the nude. I carried the basket of dry clothes up for her and she commented on how dirty my soles got being in the basement and not to track black foot prints through the house. That night I ate dinner and did my homework in the living room naked while Mom did housework and watched TV.
After that day for the next three years I never wore any clothes while home alone with my mother. The only thing was that now I had to masturbate openly and she would watch if she was home and tell me what a bad, bad boy I was.
How come she didn't want to Play with your Cock or do something with you? I think I would have pushed it and at least had her show her tits and let you play with them.
It's totally ok to be naked with your mom and mastutbating in front of as long as you are both comfortable with it. Really surprised you and your mom haven't had a sex yet? I assume you were 15 three years ago? Or are both afraid to go there? It's sounds like you and your mom get on well.