I believe that there is nothing wrong with the body: you don't have to hide it or be ashamed of it, so when we got kids we just showered together, went to the sauna, took them in bed with us or in the bathtub.
Her hand was on my shaft, slowly going up and down.
I wasn't sure if I was going to cum, she went too slow.
I said, let's go to the bed, thats more comfortable; we did not even bother to dry off and went to the bed.
That went on for years.
I spit in between her lips and sat straight up, my dick was close to her vagina, the head went in between her lips.