This relationship had plenty of ups and downs to come, but they were together in the end. Ross thinks he and Rachel share their first kiss in the dark; however, he really kisses Monica. 4 Monica Got WAY Too Into Rachel's First Kiss with Ross. RELATED: Friends: 30 Things That Make No Sense About Ross And Rachel’s Relationship. While kissing, Ross slides his hands along her back and down to her butt and Rachel starts to laugh. The episode concludes with TV’s favorite on-again, off-again couple’s famous first kiss. Ross confesses he gets how big of a step it is, just not "ha-ha" big. Their first actual kiss was in season one episode 5! (Revealed in season 10’s “The One Where the Stripper Cries.”) The closest Ross comes to expressing his feelings is when Rachel is stood up for prom. After rachel stands up to the lady at the laundry mat. The cold open of the episode after the one where Rachel and Ross kiss for the first time, “The One With The List”, is one of Friends’ better jokes about the difference between the sexes. Many people believe that Ross and Rachel's first kiss was the one outside Central Perk in the episode where Ross gets to know about Rachel's feelings towards him in the second season. It's a nervous laugh, as they are crossing "that line." That scene where Ross and Rachel have their first kiss in Friends may seem sweet, but we're also getting slight horror movie vibes. 1. Ross and Rachel. While Ross didn’t know that Rachel had feelings for him, too, viewers did, which made the wait all the more intense. First Ross and Rachel’s kiss ? Kiss in the laundry (S1E5) Kiss in Central Perk (S2E7) Vote. Ross and Rachel’s first kiss in Friends was 23 years ago today and our ancient hearts are still completely obsessed. 1. Rachel, meanwhile, kisses Ross’ best friend, Chandler. 60 Votes in Poll. 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