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Well, I took my first small step today. Got home from work, played tug with the dogs, got them settled down. Started jacking both of them - they held still for that. Managed to get their penises out of the sheaths a bit and got my first taste of dog cock. Not long on either one - both were giving me that "what the hell is going on" look. But, for a few seconds for each one, I was able to suck on them a bit.
That was a hard step to take, but now that I have broken the ice a bit, I can start getting them more used to the idea.
Thanks to all of you for the information you have provided in other threads, it has been very helpful to me.