Being happy for your friend's orgasm is okay.
Being happy for your friend's erection is okay.
Jerking off together and light mutual masturbation is okay.
DPing a sluts asshole with your friend is okay.
Guiding your friend's cock back into the pussy he slipped out of is okay.
Holding on to your friend while a slut takes both of your cocks in her throat is okay.
Laying with your back on your friend's back while holding your asscheeks apart for the slut to rim you both is okay.

If you can't do all of these with a friend, you have no real friends.