Soft swinging

Soft swinging is when two couples get together one or both partners of each couple “play” with a partner from the other couple, but no penetration occurs. Full on intercourse would make it hard swinging instead. If everyone only has sex with their own partner, but with the other couple present, that is more accurately called same-room sex or no-swap swinging.

My partner and I want to try soft swinging but we are afraid of full swaps.