Well, obviously, both partners have to be emotionally and physically ready.
The initiator should create the mood; not necessarily a sexual mood but a relaxed atmosphere, so everyone lets go of any tension.
I think after that you can start to build up from the little things like gently stroking the hair/face/beards to...
wait, I'm not even sure everyone here is an adult.
...Oh well, to gentle kisses and a ready and willing partner will almost always reciprocate at this point.
That's the green light you need. Y'all can now off cloth.
😂
Lolz. This is a funny take. We are sure everyone reading this is matured enough to understand.👌😉