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Gentle, rhythmic back and forth massage of a man's penis, along a woman's labia. The woman is on top of the man and using her juices to spread over the length of his shaft. This is particularly helpful in foreplay to ensure a hard, throbbing penis.
My man was starting to lose his erection so I immediately gave him a taco massage to resuscitate him.
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A sensor friendly way for a one nite stand or hookup.
I don't want anything serious, I just want a taco massage.