A fool proof method is to masturbate a while before you intend to make love. The time depends on you. That is how soon you recover and be ready to go again. Ejaculation second time round usually takes longer as is less copious in the amount of fluid produced. If you do this too early then the problem may not be solved. Judge it by how long a gap you feel you need.
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If you take your penis out a short while before you feel that you are going to come, withdraw your penis. A cool down period of one minute can lead to possibly 10-15 minutes extra lovemaking. Girls once they are hot, don't cool down so fast. While you cool for a minute she will be still hot. So you can maintain her mood and temperature meanwhile using your fingers and tongue.