I actually think that dick to dick or frot would be one of the easiest things to do for two guys, one or both of whom are uncomfortable with the encounter. Work yourself up in the mostly darkness, drop your clothes, stand face-to-face stroking yourself, maybe a little awkwardly, one guy gets a little more gutsy and takes a half step closer, the heads briefly touch and then one reaches out and grips both cocks, probably the guy that is more excited about being dom, and then you are locked in an exciting and maybe uncomfortable embrace....not a whole lot different than a pack of wolves or the pack mentality where the alpha sniffs around, squares his shoulders, takes the lead. Ultimately the discomfort melts away and it's just a cool bro moment. Doesn't have to be a gay moment, it's just a cool bro moment shared with another man. And when you're a frustrated married man like myself, it's all the more gratifying and exciting. Someone was willing to grab ahold and pleasure me with no strings attached. At that moment you have accepted your partner's body and cock size and all is good, you are focused on pleasuring another person. I'm here to help you bro. I feel you. I know your frustrations, your wife or girlfriend has no clue. Let's get off. Fist bump. Done.