Me and my boyfriend have a tendancy to lay on the bed and just talk, then just play with the others hair, or just touch a part of the body, like face or abdomen or legs. Then we tease the other, once I know that we're both worked up, I will stop the teasing, and ask if we should go further. If he says yes, then we do.

And after, we ALWAYS make sure that we have at least 30 mins of just laying there, hugging.