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in my experience, it always starts because the relationship was sexual to begin with. there was never any line used. it was just that every conversation somehow ended in dirty talk (what would we be doing if i were over there right now. . .etc. . .), so just make sure that you always start a sexual mood with this girl. it won't be too far a jump from a mood to action.
Great advice. I was about to say something similar after thinking about the question and initially dismissing it due to the fact that routines don't really achieve this.
Be a fun friendly person that is sexual and if the relationship has sexual chemistry and you can express to her that you don't let sex mess with your head and cause you to change how you act or feel about her as a friend, then often sex ends up becoming a healthy part of your friendship. I find that the biggest thing that is my key to success in this area is that I make it quite clear that I don't expect or need sex from them, yet I'd enjoy it and I have a good feeling they will too because all my other partners enjoy being with me. It isn't something I make a goal or a destination; I'm gonna be sexual no matter what unless they ask me to stop because it offends them and that's simply because I'm a sexual person and I enjoy being that way and talking about those things because they interest me.
I wear everything about me right out in the open and so it isn't something that I push for, I let it be known how I am and I let them know I find them fun, exciting, interesting, etc, as well as sexually attractive and that is why I am attracted to them, not just cause I want to fuck them...then I usually say, "although I kinda do want to fuck you, lol!" I also make it clear that I'm incredibly picky and I don't make that offer to just anyone and that I'm only doing so with them because I think they're worthy of my respect and attention. I do all these things with actions as well as with words that sound a touch less technical...although I'm a pretty blunt and analytical person, so it's pretty close.
Friends with benefits tend to arise from open, honest, fun and respectful friendships that have mutual sexual attraction and interest that can be shared. If you don't think you are capable of those things with a person, then you probably can't be real FWB and it's more like a fuck buddy, a booty call, or someone that you're manipulating into having sex with you under false pretenses. Be clear with YOURSELF about what you are doing, what your intents are and what the situation is capable of and you will almost always find success with it.
~ Rye