When I am in need or have urges, I play with my partner's sex and believe me it hardens like a rock in no time and it comes out in a jerk out of his boxers and I climb on him and rub my clit on the edge of his penis. I have to be careful and tactful not to be too quick or else he cums and his cock becomes fleshy and is no use as an instrument for my rubbing masturbation. But when we succeed both of us enjoy it like hell. Only that you have to have a willing gentle partner. If he takes too long to harden I suck his nipple at the same time I massage his penis.
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