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If anyone is interested, Merriam Webster's Dictionary defines incest as: "sexual intercourse between persons so closely related that they are forbidden by law to marry; also : the statutory crime of such a relationship".
Their definition of sexual intercourse is:
1 : heterosexual intercourse involving penetration of the vagina by the penis : COITUS
2 : intercourse involving genital to genital contact between individuals other than penetration of the vagina by the penis.
Therefore, by definition, mutual masturbation is not incest. Neither (up to a point) is even playing with each other! It might still be considered "icky", but then we're back to morals, innocent exploration versus exploitation (for very young kids), etc., etc.
I agree with Guido and yippi's positions on all this, so don't have much more to add.
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