I'm pretty much the same.My wife loves it when I rub her clit as she is getting fucked. She wants me to lick it but it never works out. I am not bi and I wouldnt enjoy it but would for her. Has anyone been able to pull this off.
It works best for us if she lays on her side, him entering her from behind. I hold her leg up while licking and he is fucking her. She'll usually cum several times before he explodes in her, then it's my turn using her.
Very little chance for contact unless you want it.