My wife wasn’t horny for the first trimester. She really didn’t feel well so I don’t blame her. Around 22 weeks when she was finally starting to pop and feel a little better (and look amazing) I asked to help her put her lotion on. She gets dry skin so she always lathers up after the shower. She said yes, and I got to rub down every inch of her body. She couldn’t lay on her stomach so she got on all fours for me to do her back and ass. Was so hot to rub and squeeze her ass with her belly hanging down. Then she laid on her back and I poured lotion all over her body. Covered her bump and rubbed it down good, then her breasts. She’s pretty thin with small perky breasts normally, but they are so full and plump now. I spent a lot of time on them, rubbing and squeezing and pushing them together. then started rubbing her nipples in circles. She moaned a little so I knew she was enjoying it. Gave her belly a little more love than her legs. Then I started kissing her inner thighs. She grabbed my head and pulled me closer. Her pussy has gotten soo thick and swollen, I loved licking and sucking her pussy lips and clit. I don’t think I’ve ever given better head and she came at least once. It was the first time she’d been horny all pregnancy. Can continue the story in if anyone’s interested…

My favourite one was when I was younger and working at a popular fast food restaurant. I was waiting for something and my colleague was stood next to me, she is short and quite far along, her belly wasn’t huge but it was very prominent on her short frame and her work uniform was tight around it.

She wasn’t looking so I turned and looked at her belly but didn’t realise she had turned to me and caught me looking at her belly, she never said anything she just took my hand and placed it on her belly. It felt amazing, it was firm to the touch but had a little give. Was annoyed as I was in the middle of serving someone so had to stop pretty quick as what I was waiting for was ready so had to finish serving them. She never brought it up again and we finished up our shifts.

Outside of when my mom was pregnant with my little sister while I was very young, I haven't had too many belly rub stories. I try to treat pregnant women as people in public and avoid the subject of her belly to avoid any awkward situations that may arise if things don't go the way I hope they do in those scenarios.

That being said, there is one good story of when I had full permission to touch a pregnant woman's belly. During my late middle school and early high school years, my younger sister and I took golf lessons from a golf pro at a golf course about 30 minutes from where we lived at the time. Somewhere in the middle of all our times going there, we became friendly with one of the older waitresses who worked in the golf course's restaurant, then became friendly with the waitress's daughter who was in her 20s and also worked there (I will refer to the waitress's daughter as Jess for clarity). At some point during my high school years, Jess got pregnant and I watched her belly grow over the course of the entire pregnancy. Then during my junior year of high school, my younger sister got invited to Jess's baby shower which was being held at the golf course restaurant. I was the only driver available at the time of the baby shower, and I had nowhere else to go, so I tagged along as well, which was fine with Jess (though I will admit it was a little awkward being the only male in a room filled with women, but no one else seemed to mind). I was allowed to touch Jess's belly before the party got underway, and oh my! She was between 8-9 months along at this point, so her belly was nice and firm, but hadn't dropped quite yet. I felt other parts of the baby that Jess pointed out, then that was that. We stopped going to the golf course shortly after that, but I did randomly run into her at a Walmart about a couple of years later with her husband and her kid, so that was nice. I wish I could have had more chances to touch her pregnant belly, but what can you do?

Maybe not the traditional belly rub story but I just had a great little thing happen to me today. I was making my way to the bus stop when I saw a HUGE preggo already there waiting. Maybe mid 30s with one of the biggest bellies I have ever seen in person woah I was blown away. Even considered snapping some candids bc she looked so good. She was wearing a tight black top with the texture of a pair of leggings and you could see you belly band in it's entirety because of how tightly those clothes were fitting. She was chatting with her friend so I stopped behind her waiting, enjoying the amazing side view I got of her tummy. Eventually the bus came and it was PACKED, felt like a sardine trying to squeeze in behind this large lady as she was struggling to get in and getting her bump caught on things. I had no intention of touching her belly but she ended up turning around to face me while everyone was packing in and that belly ended up brushing up right against my hand. I instantly noticed and grazed her belly for a good 7 seconds while squeezing in and it felt amazing. It was hard but also very bouyant in a way. It was great getting such a skin tight touch especially on such a big belly. She ended up scooting back a little bit so she wasn't right up against me which would have been heaven but still so fantastic. Maybe crowded buses aren't that bad after all

A very recent one that happened. My brother’s friend’s girlfriend was having a baby shower and we were invited as well as some of my brother’s other friends. After the baby shower, they all hung out for a bit, and I stayed in the living room where she was. She was in the outfit she wore during the baby shower but eventually changed into pajama pants and a sweater. I asked her how far along she was and she said she just turned 35 weeks that day and she’s having a girl. Eventually I asked if I could feel it and she was perfectly fine with it. So I got to rub her belly for a few seconds. As I rubbed, I felt her belly button almost poke through her sweater. So I kinda got brave and asked what her belly looks like. She lifted up her sweater and showed her bare belly. I asked if I could feel and she said yes, so I rubbed around her bare belly for a few seconds. Even gave her belly button a light poke. After I was done, she pulled her sweater back down and we sat down. It was short, but a nice experience. And before anyone asks, I don’t have any videos or pictures of me rubbing her belly.

Happy to revive this thread, i have another encounter that I brought up slightly in another thread, and would love to expand (hur hur) upon in this thread.
So a few days ago my co-workers were getting ready for the workday, when one walked up to us, visibly 20-something weeks pregnant. I haven’t seen her in a while, and was pleasantly surprised when I saw her waddle over with her bump. The work day continued and, during some downtime, I asked her a few common questions about her pregnancy. During the conversation I asked if I could feel her bump, she pleasantly said yes, and I briefly ran my hands over her shirt to feel for about 10 seconds, as were were in a public area. About a half-hour later, she walks up to me and tells me she was feeling some kicks and asks if I would like to feel. I give  her a look from my work, and obviously say yes. No kicks were felt, but that belly was nice to feel twice in about an hour. 
That was pretty much it on feeling her bump, otherwise I got to watch her waddle around the work area all day, and that was just as satisfying. Dunno when I’ll see her again, but I cannot forget the feeling of that belly, and seeing that sweet behind.