Um... after coming it is normal for the penis to go limp. Staying hard is less common than going limp. With that said, if you want to stay hard, you could always go for the almighty cock-ring. I'd suggest just taking breaks and going at it again... or masturbating earlier in the day, it usually takes longer to come if you already have earlier. In any event, the best advice I have is to not worry about it too much, enjoy being together.
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Innominate.
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