This looks a lot like my other technique, but this one is LYING DOWN instead of standing up.... and is easier without waking your wife.
A few months ago, I started to shave my penis and balls (but not the rest of my pubic hair, my wife thinks it looks foolish, so this is more of a secret tradeoff). It feels extremely soft, like velvet and introduced to new unexpected side effects.
As mentioned before, sometimes I have a hard time falling asleep especially when it is warm and damp outside.
So what I learned lately is that when my penis is still soft and make sure it is tugged in nicely in my underware (tight ones, not those hang in loose boxers), pointing down, your penis will not become erect that easily.
When you start make circular motions (sometimes CCW, sometimes CW) on the tip of your penis, through the fabric of my underwear for a while (your frenulum will get really excited). If you start moving your hips in a rocking motion as if to penentrate your wife on top, and want to fill her with your cum. You will build up semen and fluids. Eventually you will reach the moment of orgasm, you stop right there, and squeeze your PC muscle. You will push out all of the semen accumulated, but because your penis is still in tucked down position (semi soft). You WILL ejaculate quit a lof of semen, with ALL the great feeling belonging to it, but NOT orgasm yet.
If you touch down in your pants, the warm semen is oozing out of your penis, which I use to either taste it (deliccious) or just rub my penis and balls in (and because they are shaven, this is SOOOO SLIPPERY).
You can repeat this a few times, but don't forget to wait until your penis is SOFT again, and you can tuck it in again.
Because once you free your penis, it will become erect, and then this motion WILL result into a orgasm.
I think it has to do with blood / or sperm flowing free through an erect penis, versus a soft one.... anyway this works for me.
Enjoy.
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