How to make this not rape
I have a fantasy I want to try with my gy where I fall asleep tightly hugging. I would hug her vag to my crotch and then when I get morning wood which I always do, I would wake up inside her. If that doesn't sound sexy, I don't know what does! I also may have to use a few straps to keep us together so we don't rearrange in our sleep. How do I ask her about this without being creepy and getting proper consent?