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I was very lucky and that I had a very supportive wife who encouraged me to explore whatever desires I had. She knew that I was curious about sucking cock and she's the one who ended up finding a guy who was open to it. The setting was a familiar one for us which was that he was there to have fun with her while I watched, but when the time was right my wife had me join her in sucking his cock. She was right next to me which made it even hotter and also made it a lot easier for me to just dive right in. I loved it immediately though and did not want to stop.