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The way I brought it about was kind of a "caught in the moment" kind of thing. Me and my girlfriend were making out and just kinda kissing around on each other (and biting, but that's another subject!), and then I just kinda laughed and kissed it through the panties. Her eyes got that mischievious look on them to pretty much tell me "GO GO JESUS FUCK GO" so I did, and she liked it. It just kind of comes to you when you get down there, it seems... at least that's how most of my friends have described doing it their first time. Still, even after 4 months my girlfriend doesn't let me do it much as she is a little self conscious still. She likes the whole rub the G spot with the middle finger kind of thing more, but again, another subject!
I'd say just go for it with her consent, and let her know that you're a beginner beforehand, and that if she'll just let you get a little experience, you'll get as good as she needs you to be at it. You'll know you've done the wrong thing if she clenches her legs around your neck and starts steering your head by grasping your ears with her fists! You'll know you've done the right thing if she starts easin' her legs apart a little more... and she screams in ecstasy and nearly pulls your hair out - then you sir, have achieved greatness in my book~
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