i'm still a virgin at 28. I have good reason and its not that wait for marriage bullshit. I've been wheelchair bound half my life. In my condition I need assistance for almost everything including showering and bathroom. I have an attendant for that. I'm not quite sure how to go about this.
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I think a sex surrogate is what you are looking for. They deal in helping people with exactly the kind of problems you have.
Good luck. Hope you get a chance to try it soon.
Stop being a fucking pussy if you can use motherless then you can find a hooker polish your spokes. If you get a smart one she could even bill it to your insurance as therapy (assuming you're an americunt).
Or (if they aren't family) tell your assistant/carer you never got laid cry like a cripple bitch they'll either offer to do something for you or help you with the above.