I'm a very big believer in tons of foreplay, when you get away with it. There is something about all the senses, that when aroused, make for a total orgasmic experience.
I had a similar situation with a woman who had great feet. They were awesome. One of my delights would be to sit at her feet and totally massage her feet. I'd soak them first then massage with good quality, edible oils. I am particularly fond of sucking the toes. Of course, my dick is hard the whole time this is going on.
My goal, of course, is move from massing her feet to massaging her legs, then getting in between her legs with my long, wide, wet, hot tongue.
It usually ends up with her cumming multiple times and super penetration for me.
Go for it?