Rubbing myself through my jeans on a bus. People could see me but not what I was doing. I was so horny at the time that I finished just rubbing myself discreetly like that and the fact that I was in public was a huge turn on. Never understood public kink until that day.
You can always try blue chew or some other med. I don’t usually have issues getting it up but sometimes I just want to go for an extended sesh with a friend I haven’t been with in a while and it keeps me hard and also prevents me from cumming so fast. Exercise might also help if you find yourself not as active as before.
We just kinda do it in bed whether the other is around or not. If either of us wants it to turn into more than just maturation, we just ask. Both of us are men though so anything beyond oral takes a bit of prep. Sometimes we just play around with each other and mutually masturbate to finish and cuddle afterwards. No shame in our relationship. We get enough of that from the homophobes.
Jerboa
Lemmur
Liftoff