2. 4 Monica Got WAY Too Into Rachel's First Kiss with Ross. Monica and Phoebe want all the romantic details about Rachel and Ross’ kiss. While kissing, Ross slides his hands along her back and down to her butt and Rachel starts to laugh. Their first actual kiss was in season one episode 5! That scene where Ross and Rachel have their first kiss in Friends may seem sweet, but we're also getting slight horror movie vibes. Ross thinks he and Rachel share their first kiss in the dark; however, he really kisses Monica. This relationship had plenty of ups and downs to come, but they were together in the end. They start to kiss, but things get awkward. 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." Ross had a crush on Rachel since ninth grade but he wasn't able to act on his feelings until she came back into his life nearly a decade later. (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. 60 Votes in Poll. Meanwhile, Ross and Rachel have returned from their first date, a movie. Kiss in the laundry (S1E5) Kiss in Central Perk (S2E7) Vote. 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. While Ross didn’t know that Rachel had feelings for him, too, viewers did, which made the wait all the more intense. The episode concludes with TV’s favorite on-again, off-again couple’s famous first kiss. 1. Ross and Rachel. Ross and Rachel would have breaks over the years, but nothing was ever as romantic as their first kiss. 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