This dream may symbolize hidden desires or attractions towards someone close to you, specifically a friend’s sibling. The act of sleeping in the same bed and changing positions, some of which may have seemed sexual, could represent a subconscious desire for physical intimacy with this person. The fact that the brother was unaware of your actions could suggest a fear of being caught or judged for these feelings. The sudden appearance of your other friends and their shock at seeing you with this person could represent your own inner conflict and guilt about these desires. The removal of the friend’s pants and her being left in just her panties could symbolize a desire for vulnerability and intimacy with this person. Ignoring your friends’ reactions and dismissing them could indicate a reluctance to confront or acknowledge these feelings. Overall, this dream may be a reflection of repressed desires and the need to address and understand them in your waking life.