My wife is very kinky which works for me. The other day we role played a Victorian maid and a stern master of the household.
Lisa was wearing a classic French maid dress, fishnet stockings, full cut black lace knickers and a blue bra. She has fantastic 40H tits.
We started with an inspection of her uniform and underwear. I said “During this inspection I will touch your body in any way I see fit.” I told her to stand in front of me, I was sitting on the edge of the bed, then turn around and bend over at the waist. I caressed her long sexy legs up to her soft creamy thighs.
Then I pushed her dress up at the back to reveal her knickers. I caressed and squeezed her sexy bottom. I rubbed her pussy through her panties. I said “You have a very sexy bottom and we will come back to that. Now stand up and turn around.”