Use Josh to prepare her first

You call Josh over to the bed. He lies down between Lucy's legs. You push his head forwards until his face presses against her pussy. Instinctively, Josh opens his mouth, and begins to suck as the opening. Lucy moans as Josh's tongue pushes deep inside her.

"Good boy", you mutter, as you press Josh's head further down.

When you decide that Lucy has been prepared enough, you pull Josh back, and take his place. You line you cock up with Lucy's pussy, and push it inside. She tightens her legs around your waist, showing her appreciation. You continue fucking Lucy for a few minutes. Finally, you pull out your cock, and jerk it off until you cum on Lucy's chest.