Do girls like being rubbed over their panties?

Simple question. My girlfriend and I have pretty firm boundaries and all clothes stay on, but I kinda just slid my hand over her panties and rubbed her in front a few times and she just kinda melted into me and started getting really intense with her kissing. Do girls actually like this, or was she just urging me to do more since I'm the one who set the boundaries?

 

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