Okay, here comes debbie downer. But, what her mom did and said, sounds a little creepy to me. Maybe its just the way you wrote it. But, the way she kept asking if you were alright and if she could keep going? Well, yeah...If it happened just the way you said... well, I think if I were your mother, I might advise you to steer clear of alone time with Stacy's mom.
Also, give your mom some credit. She may not be willing to do all those things with you, but as its been said many times on this forum, its easier to accept and experiment, when its in someone else's backyard.