Hi all,

It's all a matter of connection between 2 people (or more :P ).
I think you'll get the best of it in a long term relationship in which both partners get along well and become more and more experienced as a couple.
One time experiences (sexual friendship one might call it ) bring other nice sensations but need things to be made clear from the start, and people to be trustworthy if you want it to remain a good experience.

In all cases it needs to be talked about, it needs to be fun, good, dedramatised, and SAFE.

Ponrauil