Disclaimer, none of the games below fit your request of "I want it to be someone she knows and trusted". I don't have any suggestions that fir that criteria.
The
Train Capacity games fit this bill. You're a guy groping various girls on a train. Don't get caught! Not much for story though, but decently fun gameplay.
Flower Princess Elulu - Molestation Train puts you in the female pov as the one being groped. You're investigating the source of corruption and have to endure the assaults of the men to progress. Last time I played (years ago now) there was no sex content yet, but still fun.
The Headmaster has a lot of groping (and spanking). Decent story, large cast of girls.
JK Molester Train Seeding Uncle again, train themed. Just the one girl. A little janky at first until you get her stats high enough then you can do more. Little to no story.
The Nightmaretaker: The Man Possessed by the Devil has lots of groping, but the girls are all asleep so it's pretty rapey. As the game progresses you gain more powers that lets you go further with the girls.
Urge to Molest If I haven't played it myself, but it has good reviews.
