Translation:

Title: "With My Friend's Dad..."

0:03: Noriaki: "Hmm? Ohh, Taiga-kun! Welcome! What's with that surprised look on your face?"
0:10: Taiga: "Ah, no, I 'm just not used to being greeted by you in a pair of underwear"
0:16: Noriaki: "Yeah, my bad. I was taking care of the garden, got sweaty, and just took a shower!"
0:23: Noriaki: "That wife of mine isn't home so I wasn't even thinking about being like this..."
0:28: Noriaki: "A-Amazing... Their dick is melting... I can only imagine how good it feels..."
0:35: Taiga: "Ah..."
0:36: Noriaki: "Ahh... Ahaha!"
0:40: Noriaki: "I've just been at work lately and haven't cum in a while so talking like this got me hard!"
0:46: Noriaki: "I'm a sexually-charged bastard. Sorry for showing you this kind of thing!"
0:51: Taiga: "Huh, n-no..."
0:56: Noriaki: "Oh? Hahah, so this talk got you hard too, Taiga-kun? Man, you're young!"
1:05: Taiga: "...You're wrong."
1:08: Taiga: "I got hard because you're damn sexy, Noriaki-san."
1:10: Noriaki: "Don't joke around with me... Are you really fine with this even though I'm a man?"
1:15: Noriaki: "So...a-are we gonna rub our dicks together or somethin-!?"
1:20: Taiga: "Like this...!?"
1:23: Noriaki: "Uohh...!? Ahh, no, you really... want this... kind of thing...? Ohhh...!?"
1:36: Taiga: "This is... a serious match between men..."
1:44: Taiga: "To make us both feel good, I'm trying my best to make sure we don't collide... How am I doing...?!
1:50: Noriaki: "Guahh...! Oo, oh, s-sorry. It feels so good that I don't think-... Guahhh~"

The context at 0:28 isn't clear so I'm not sure whose penis he's talking about.