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You can grind in circular patterns if you're angled down on top of her and position the head of your penis where it's pressed on her pf. Small movements with your hips so that it rubs her clitoris and labia combined with rhythmic flexing of your penis so that it pulses on her pf can work well.
Note: How well that works would depend immensely on your anatomy: the rigidity, girth, and ability to flex it when still inside her. I have a larger girth and am very rigid so it doesn't take much movement for it to be felt significantly. I doubt this would work when I was a teenager because I would have been too rigid and not able to get the angles correct to flex. It's a fine balance but you can experiment with hip positions to see if it'll work for you.
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