Unless there is a medical condition I've got a cure for you and soft dick.
Get some lube. Put some on the limp dick in question and some in your hand. Then starting from the root of said limp dick stroke downwards towards the head. Let go, grab the dick at the root and stroke down again. Rinse lather repeat.
Think of it like milking an udder or read up on jelqing. Do this with some strength but don't rip his dick off. Keep up the rate and lubrication. You will drive blood down into the shaft and before long limp dick will become fat cock. So climb back on and ride em girl.
This will bring cock back from the dead (even right after ejaculating) for most healthy men regardless of any psychological hang up. Erections are a
parasympathetic phenomenon.