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This started happening to me, too, at the gym on the ab-hanging-armresting equipment 20 years ago.  At about the 8th time I bring my legs to my chest---boom!  It also work when I lay on my back, tilt my pelvis up and bring my legs up and rock with them straight out.  It doesn't take much, but I have never orgasmed by penetration.   I am going to do an experiment soon during sex and using this technique and angle to see if it makes a difference.  I am pretty sure it will.     I've never known anyone else to have this "problem", but it's a good one to have.
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