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How do I feel up my boyfriend??

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Last night he felt me up while we were dancing. I was really suprised because he's somewhat shy so I didnt expect it. I really didnt know how to "feel" him up. I dont want him to feel uncomfortable or that I'm a whore or something. How do I do it without making him feel akward/uncomfortable? How do I actually do it? And when is the best time? Anything helps!