Underage sister in law flirting, sex?

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I was in the pool alone with my little sister in law and we were playing keep away. She was holding my hand against her chest while trying to pry my fingers off of the ball. I was immediately excited as she put the back of my hand against the top of her breast to get the ball and we were tightly pressed together and her butt was right in my lap (like we were spooning). I was getting aroused and didn't want the situation to get sour so I said, "I am not trying to be all on you but we ended up this way." She said, "I don't see nothing wrong." I know she could feel my man hood poking her in the rear as it was very uncomfortable for me as it was being bent in an uncomfortable way. I ended up moving because I couldn't stand the pain anymore and we continued to play keep away.

We were both sitting on a couch. I had a flash light and was shinning it in her eye. She of course wanted to get me back by getting the flash light. I held the flash light far away with my left hand and she spread across my lap to try to get it from me. I was using my other hand keeping her hands away from the flash light. She then took my right hand and put it between her legs to hold it while she reached for the flash light. I don't know what she was thinking but she had a skirt on. She put my hand right on top of her womanhood. I didn't know if she realilized what she just did. I rotated my hand and my hand now laid on her upper inner thigh with my thumb and pointer finger resting against her panties. She did notice that I had a hard on when her forearm pressed against my lap. I then gave up and let her have the flash light but she didn't move. She left her forearm on my manhood and slowly moved it around to feel it. She rested her head against my chest and continued to not move. I slowly started to rub her inner thigh. I really didn't want to do anything in fear of everything possibly that could go wrong. We ended up stopping after 5 minutes when dinner was ready at my in laws.

Those are the two most sexual moments we have had. She isn't like any 15 year old in high school I ever met. She is very shapely. I really want to keep our relationship as is but I want to have sex with her. Is this at all normal? If so how should I go about it? She is mentally mature so I may just ask her if she would like to. I’m really confused right now because I do love and care for her.