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How can I stimulate someone's nipples properly when I can't even feel them under my tongue?

I've never really done this before and my boyfriend asked me very openly to lick his nipple during foreplay. I was happy to oblige but I had no idea what I was doing becase it sucks that I can't feel it so I might as well have licked his skin but not directly on the nipple. I'm pretty sure I missed it most of the time because he would occasionally moan and that's when I think I hit the spot. I learned the hard way he doesn't like biting though. Lol So I want to be prepared for the next time. Any suggestions?
How can I stimulate someone's nipples properly when I can't even feel them under my tongue?
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