How do I make my man feel good?

How do I not hurt my man when rubbing on the outside of his crotch. Each time is a hit and miss if I grab his dic* or balls and at times times mistaking it for his dick. The jeans he wears are so thick. As it turns him on when I run my hand against it but I can't go under his pants yet cause he isn't ready (which I understand and I am not too). Any advice on how to avoid hurting him there besides straddling him?

submitted by /u/snowflake1324
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