My wife is not always able to receive me when we make love. So we've adopted some alternative methods. One of them is mutual masturbation, sometimes with a strap on massager.
We had about an hour before our daughter and grandkids would show up for the usual Saturday afternoon get together and dinner. We had finished out housework and were preparing to take a shower. She asked me if I would like a quick romp and, naturally, I agreed. When she said she would like to use the massager, I was 'up' for it. Usually, we do this with her lying on her tummy, and me placing my hand with the massager strapped to it between her legs, middle finger just touching her vagina, thumb resting against her anus. This avoids direct contact with the clitoris, which for her is extremely sensitive, and enables her to have a nice, gentle, orgasm. This time, she laid down on her back. I placed my hand over her vagina, middle finger nestled between the folds of her labia, and palm resting over her clit; Closer than usual, but still no direct stimulation. It didn't take long for her to have a long and intense orgasm. This of course, always makes me hard in no time flat. I alternate between caressing her breasts (no rough stuff for this lady) and stroking my hard on. When she had sufficiently come down, I passed her the massager and she stroked me with it strapped to her hand. In just a few minutes, I came in several strong spurts, depositing my love juice on my tummy instead of inside hers.
Needless to say, we were both quite mellow by the time the kid and grandkids arrived. I love afternoon sex.