First, I'm assuming you already made the decision about having "safe" unprotected sex. i.e. You've both gotten tested or at LEAST are in a committed relationship and you've both not been around too much.
Regarding the "clean up." There really isn't any. It's possible that some of the lube and semen will leak out later on, but that doesn't always happen. If you want to make sure that there's no leakage later on you can just sit in the restroom and "poop out" the fluids from sex.
Personally, I prefer to just leave it. I like having his juices in me all evening/night and generally I don't have sex until around bedtime anyways.
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like m said, as long as you know you're both clean and are committed there isn't necessarily any need to remove it since it is simply another natural body fluid.
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Clean Up Song
