For her: before you go to sleep set the alarm clock to ring in the middle of the night. Your goal is not to oversleep and turn off the alarm before your boyfriend wakes up. If he reacted to the alarm lie in the bed for several minutes so he could fall back asleep. Now get out of the bed and light some candles in the room. After you have done everything go back to bed and try to wake up your partner. Do this in sexy and pleasant way by kissing and touching him. If he tries to say something just don’t let him do it. Now take some lube, put in on if you or your partner needs it and start doing it slowly. Whisper some sexy words to him, so he would feel even more pleasure. After you have done everything just fall back asleep. If your boyfriend sleeps very deeply he might even think that it was a dream. Imagine having a dream like this… This is the best thing any men could ever have.
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I wanted once to touch and lick my gf but she did woke up when I did move just little.