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LOL - if she's in bed with you already, you do not need a routine.
Try using your dick.
But he's asking how to use his words.
In my earlier life I was always quiet in the bedroom. I have a talent for dirty talk now. Try describing what you are doing and how she is reacting (eg. "Oh, yeah... get my fingers in there." Followed by a comment on how she moves or a sound she makes, her breathing). It's about having rapport with sexual language. Just start using it more outside the bedroom. Talk about underwear or butts before hand so you can refer to it again when you are actually touching her underwear and butt.