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What would (probably) work on me would be just to lightly lick, kiss, or touch (with wet fingers or feather) the head of the penis, and the underside of the penis. In a minute or two it should get hard.
The next part would be different for me. I would want you to use it, but to not wake me up. I'm sure we would wake up eventually, but it would be fun if you were already riding it on top.
It sound like fun. Have a good time trying things out.
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