When my wife and I have our fuckapalooza marathin fuckfest weekend, we have what we call, "Naked Sunday". We don't bother getting dressed and it's pretty much a free for all.
She's more than once grabbed my cock and sucked it in the middle of a non sexual conversation until it got stiff enough to slide it in her. Without missing a beat, we'd still be having the same conersation while we were fucking, taking breaks long enough so she can have her orgasms.
She says she also loves it when I do things like vacuum or load the dishwasher when I'm naked. She calls it "porn for women".