Erotic stories are part of the foreplay routine with my SO. Happy time typically involves a bit of MJ (huge pleasure enhancer), some optional porn in the background, a bit of light music and reading erotic stories to get the engines humming prior to the deed. Allows for longer foreplay and extended sessions.
Toughest part is finding time around the kids' schedules
Literotica is a great site for stories - thousands of stories, well organized by genre along with ratings.