It must take me back to my younger years and first sexual encounters when the boys would rub me over my clothes, then try to put their hands down my pants. Trying to reach that secret place.
Sometimes they would unbutton and unzip my pants. And get over my panties. Or under them and feel my wetness. Sometimes they would actually find my clit.
So those very first experiences molded my future sexual excitement.
Close encounters in the backseat or other places. It was wrong (my upbringing), should I let him touch me? Mostly over my clothes, but still, he shouldn't be touching me there.
There is nothing greater for me to have my mound and labia and then my clit rubbed to orgasm. (Although for completion, a vibrator is my favorite).
So yes, I happily love to have my husband or my zity play partner rub my slit.
And I am only to happy to return the favor.
Like someone said it is cooperation. And, sometimes you are just too tired for the entire shebang.