No matter how you dress it up, a quickie is a quickie. The hands and feet are doorways to erotic pleasure. When you get to the vagina, tease and go slow. Men are sensitive in all of these same areas as well. The problem is that when the penis gets hard it attracts most of the attention.
Many men are unaware of the sensitive areas surrounding the butt.
All along the crack is good as well as an area about the size of a plum between the back of the balls and the anus. A man can have an orgasm just from stimulation of this area without ever involving the penis. Nor do I want somebody else watching me and my lover in the act of foreplay. Can someone be taught this art without everyone having to take off their clothes, which would make me very uncomfortable. I understand your shyness.