Yes, kind of not the right thing, but it was so good.

He would hold me tight and massage my pussy. He had a way of getting his hand up between my legs and his finger or thumb up against my clit and massage me until I climaxed. When I started climaxing he would kiss my mouth, juicy, hot kisses. I loved those kisses, I loved being held so tight and I loved being massaged.

The trouble is you get older and you don't fit so tight in his arms any more. And anyway, it is hard to tell the guy why you want to be held like that and massaged and kissed. And you are to big to sit in his lap. It is just not the same.