If you wait until you're physically in the mood and running off of pure libido/physical urges, fully "fired up" and ready for sexual stimulation of any kind before engaging then...
No. Probably no. Based upon my own personal experience (with vaginal) that's a definite no. An absolute 'no.' The brain shuts down because of the presence of the other person "killing the mood."
In my experience, this is as possible as being able to successfully cuddle a polar bear cub with its mother sitting idly by and living to tell the tale. YMMV.