My daughter is 23 but she still lives at home. We have a Sunday morning ritual that goes back to when she was 18 and first got some "shorty" pajamas, which she has always worn without the panty part, the top barely reaching below her crotch (so her pussy tends to occasionally show as the top part of her nighty moves, as does her beautiful tush, especially if she bends over facing away).
My wife goes to church service at 9:00 AM, she leaves the house at about 8:30. But I stay in bed to "sleep late".
As soon as the car is out of the driveway, Ellen appears in her nightie to "play horsey". She pulls back the covers and sits astride me as I lie on my back. I wear typical male pajamas to bed, sometimes without the top if it is warm. But what we discovered that first time long ago was that the fly of mens pajamas tends to part and let an erection out if a guy is lying on his back. She discovered this happy fact "accidentally" the first time she played "horsey".
My thick warm cock tended to spread apart her labia and rub against her clit just right if she leaned forward and rocked back and forth on it.
After the first time, I added a little Astroglide lubricant when I heard the car start, that makes it even better. As you can imagine, if my cock is up against my abdomen, the most sensitive part just below the glans is getting rubbed as she "rides". And by leaning forward, her beautiful breasts are close enough for me to lick and kiss the nipples. The leaning seems to allow her to make just the right contact of my cock with her clitoris- there is never any penetration- that would be sinful.
I hold very still and that helps me delay my orgasm; she does ALL the work.
I am a horsey that could be made of wood- I tried bouncing her up and down but it didn't produce as much good contact as she can manage with me holding still.