For couples in a committed relationship routine always has crept into our actions. Take for instance the time alone you spend with your partner. If you have been together for a while, chances are when you have sex you have a set pattern of actions. The sequence may start off as some simple kisses then straight to intercourse. If this is the case then both you and your partner are missing out on just how great your sex lives can be.

While we are sure you have heard about foreplay, did you know the importance of foreplay to your overall sexual satisfaction? Extending foreplay can rev up your arousal and your likelihood of having an orgasm. “You may discover things about each other’s bodies you didn’t know, or learn new ways to please each other,” says relationship expert Amber Madison, author of Hooking Up: A Girl’s All-Out Guide to Sex and Sexuality. “Plus, it’s bound to make the experience more intimate and it can remind you of the early days of your relationship when the sparks were flying.” With that in mind, we have put together some simple yet vital foreplay tips to help both you and your partner last longer and enjoy more.

Once you’re in the privacy of your own bedroom, you may have gotten into the habit of rushing through this bit – which includes any manual or oral action below the belt, say our experts. It’s a shame, considering that both men and women in long-term relationships wish foreplay would last longer: specifically, for about 18 minutes total, according to the Journal of Sex Research. Need some ideas on what to do for foreplay?

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Dr. Jessica O’Reilly, the author of The New Sex Bible, suggests performing this move on your guy: after asking him to close his eyes, wet your hands with lube and use them to fondle his testicles while you perform oral sex. The mixture of your slick hands and mouth will give him the sensation of two mouths on him instead of one – and will surely send him over the edge. In return, have him kneel on the floor between your legs (as they dangle off the bed) and roll the sides of his tongue together so it forms a tube. “He should slide his tongue in and out of you while pressing his lips into you in order to create wet suction – starting slowly and then picking up the pace,” says O’Reilly. Try a range of third-base acts like this and you’ll both be more likely to reach a happy ending.

Most of the time, you’re going to go all the way. But sex that’s had this kind of pre-game is not the same as a let’s-get-naked-and-do-it quickie – especially if you, or your guy, have already climaxed. If that’s the case, it helps to call in some reinforcements. “Many couples use lubricants, or stimulating creams such as Alura Lux to improve vaginal lubrication and vibrators to add sensation to sex if they’re going for orgasm number two,” says Dr. Logan Levkoff, author of Third Base Ain’t What It Used To Be.

If two orgasms are unheard of for you, it’s especially important to relax – which means forgetting about the finish. “If you focus on the goal, you may psych yourself out altogether,” says Levkoff. Control your breathing so that it’s slow and deep, and communicate with each other about what spots are too sensitive, or which moves to feel just right. Think of revisiting the bases “as not just physically intimate,” says Levkoff. “It’s emotionally intimate too.”