What you do is you sit in the guys lap straddling them so you are facing them. Then you scoot your hips up ever so slowly, or you can just go in circles. Then press your body against his and kiss his neck. Make your way up to his lips but tease him, because he should already be turned on and wanting you. Dont kiss him just yet. Kiss around his mouth, his nose, the corner of his mouth, etc. Then when he cant take it any more he will give in. Its an amazing tease. And it drives my boyfriend crazy. You might even get something in return. ')
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