Use your fingers on Peter while you undress

You sit up and rub on Peter's clit with your thumb. With your other hand, you untie your scrub pants. You slide two fingers into Peter's tight little snatch. She starts pushing her hips up to meet your hand. You get your scrub pants started down your legs, so you lean in and lick Peter while yanking your jeans over your butt. You kick them off.

Peter is lost to the sensations you are creating in her, as you switch back to your fingers. Your cock is stiff as a board.