Send the kids out for the night and stay in.
Read out from an erotic book and play the characters.
Pick out your favorite erotic novel or collection of short stories and read out to each other, taking turns to play the lead characters. And each time one of you have to read out an erotic passage that involves touching or fondling body parts, read the action and do the exact same thing on your partner’s body.
I highly suggest my book Handcuffs & Silk.
It contains some excellent role playing passages.