I had an experience with "Mans best friend."
Just laying in bed. No clothes on. I felt my dog jump on to the bed. Not unusual.
Then there was a feeling. Her tongue licking me between my legs. My first reaction was to push her away, but I didn't. I let her do it. I got hard and then she licked that too. I came all over my belly, and she cleaned it for me. I'm okay with this. My best friend.