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At this point it sounds like you've tried a few times with the same girl, so she knows about your issue? If she does and is ok with it that should help take some of the pressure off.
If you are at that point with this girl, another thing to try is just get naked and lie down together. Touch her, do some foreplay, try the pussy rubbing thing (my ex used to go wild when I rubbed her clit with my penis, soft or not) and if you still don't get it up just stop trying. Relax, cuddle, chat and once you've stopped pressuring yourself to get it up there's a good chance it'll happen.
If you're not there yet, consider explaining things to her and then trying it. Knowing she's ok with it can take some of the pressure off, and you can try more things to reach the end zone.
I've tried twice with the current girl. We've met altogether three times, the first time being the insta date.
It's kind of tenuous because she works 12-hour shifts 6 times a week (that's way above normal for Europe) and that leaves her really tired so we meet once a week which I guess that puts the pressure up a bit as I know she's making a decent investment to make it happen.
So I'd rather hold off explicitly talking about it for now as we've not been together that much, and making her go out to meet me on the only free day isn't easy as it is. With most girls if they are difficult to meet up I just next them without a blink, but this girl I really like & by how much I know her I know she's not just lazy/making it up.