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you can also try just getting naked before her, just start taking off your shit before she does, whip out your junk before she has to, if she has some sort of mini freak out just keep saying shit like, ''I always do this at home'', ''nothing you haven't seen before anyways'', ''I'm just getting comfortable'' and just take her hand while your making out and keep putting it on your dick
but for god sake, don't be pushy when a girl is saying no, for little excuses sure, but a no means no dude, doesn't matter if there other people in the other room, that's a great way to piss a girl off and never see her again
you gotta keep in mind girls can get preggos, so sleeping with a new guy can make them very anxious and nervous about allowing entry to a penis who has not been vaginally approved before, it's kind of like how alot of guys have AA or fear of rejection, it varies from girl to girl and how much she trusts you before hand, but some girls can really freak out about sex, even though they want it