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The first 5 years of my being sexually active involved non-penetrative sex and it was incredibly satisfying. I love penetrative sex but it is not necessary for sexual enjoyment.
I love non penetrative sex. With my ex wife we did that a lot when we were dating. I liked to put my cock on top of her panties and rub it near her clit, it would get her off, then I would either shoot on the outside of her panties, or put my cock between her panties and her leg and cum there.
Otherwise we would get me off by rubbing on her bum and cum there, or between her breasts.
It was fine until we got married, sadly, we did not have PIV sex for eight years after the wedding...a long story.