its basically like playing thumbwars with your and her/his tongue...DO NOT shove as much of your toung in their mouth as you can..it doesn not feel good and dont just start randomly or he or she will reject you do it when the time is right your both looking at each other, you both start to lean forward, and then it starts.
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make sure you really want to, dont feel forced to. Put your hand at the back of his neck softly, turn your head on an angle slightly so you dont bump heads move in slowly. start with open mouth then if you want to slowly slip your tonungue into his mouth. if he pulls away dont be embaressed. he may not be ready.