We were cuddled up in a big spoon/little spoon, and my arms were around her body- one cupped over a boob and another at her stomach. She was in a sleepy bliss and held on to one of my arms, occasionally kissing it and fading into oblivion.

I tried making a move, i slipped my hand towards her inner thighs to gauge her response. Continued bliss, so i caressed her slowly and closer to her crotch. Gently feeling her soft mound and slit, just caressing her with a very soft touch to tease her.

"What are you doing? I'm trying to sleep," she protested as she continued to lift her hips to my fingers.

Soon her pants and panties were off and I was caressing her private lips with my public lips. She smelled so, so good- I bury my face into her and inhale deeply. I touched her clit with my tongue, and it was an electric touch. I love eating her out- the smells, her moans, the textures of her labia and clit, the balance of pleasuring and teasing- and it gave my penis a few glistening drops of precum.

Spreading her legs and lifting them up to maximise my access to her, we ended up in a position sometimes called the Hummingbird (see image 1 in comments).

I intended to edge her, and as she was getting closer to orgasm I moved up to kiss her body and her lips. From the hummingbird position, I slowly crawled up while planting quick kisses on her abs and boobs and finally her neck and lips. Interestingly, I had not untangled her legs from my arms, so her legs were pushed up and out by my shoulders, and we ended up in a classic feet-on-shoulders position (see image 2 in comments). The only difference was that we were merely kissing and not yet fucking.

That was HOT. We had never tried this before. I thought it is just stuff you see on porn, but as it turns out, my wife is flexibile enough to flip her legs up onto my shoulders easy-peasy! I crawled down a little, and kissed her nipples. Her legs were still up and spread, with her pussy exposed and pushed out but no cock to fuck it yet. As I kissed her nipple and swirled my tongue around it, i rubbed my abs on her wide-open pussy and squirmed my body to amplify the effect.

She moaned and sighed. I continued to smother her nipples with kisses and tongue flicks while grinding her wet pussy with my stomach.

I went back to eating her out, and came back for more nipple play and and rubbing her spread open pussy on my stomach. The last time, I finally put my cock on her labia. Her legs were up and spread, her pussy was wet and soft, and her expression was one of bliss and expectation. I rubbed my tip against her clit, picking up her wetness before slowly sliding the tip in while watching her face. What a beautiful face in pleasure. She asked me to go in deeper, harder. This probably the deepest we have fucked, and it was mindblowing. I was close to cumming, so i held myself still inside her and just kissed her for a while.

And then we were back at it, now with her riding to top of me. She did it how i love it- slowly riding up and down just enough to get my tip in and out of her gripping pussy. I have tried doing her with just my tip in missionary position but it doesn't work; I think her being in squatting position and controlling her legs tightens just the right muscles and flesh to give it an excellent grip that is perfect for teasing my tip. That brought me to the edge quickly, so I sat up to kiss her while she sat on me while I was inside her.

I moved my lips down to her nipples, and oh my! In my earlier adventures I had spread some of her pussy juices on her nipples via my mouth, and they now smell extra wonderful. Soft erect nipples that make her moan and grab my hair when sucked, and now with a musky taste of her pussy juices.

The next 15 minutes proceeded in a similar fashion of changing positions, edging and pausing, going back to foreplay, more legs-on-shoulder ploughing, her telling me to do it harder, touching each other's nipples, lots of kissing and embracing...

There was a knock on the door. One of the children wanted to use the toilet in our room. We became very quiet, ready to throw on some clothes and act normal. She indicated at me to continue fucking her. This was new, she was never horny enough to do that. The knocking came again; we igonted it hoping it will go away. It did not; we continued fucking in silence. Third series of knocks. I put on my shirt and pants, and she hid under her blanket. I attended to the kid, hurried her out, locked the door, got naked and went back to my wife.

Inhaled her pussy again, teased her clit, snuggled up to her and hugged her face-to-face, genitals-to-genitals. And we were back at it.

I think we spent close to an hour playing with each other, and I finally cummed in her. After such a long and erotic edging, it was a long shivery orgasm that made me flop limply onto her while my cock pumped out streams of jizz deep into her. She moaned but didn't quite cum. I pulled out my softening and very sensitive cock, relishing at the tight sensation of pulling out past her entry way. I crawled down, fully intending on sucking on her clit and licking her lips till she came, but she too was done for the night.

We showered, washed the juices off our bodies, got dressed in clean clothes and went to sleep much later than intended.