Sex for senior citizens

I am a 68 y.o. male who has considered himself very sexual. However, as with many as they age, I am unable to have sex the way I would like. I do not expect to perform as I did 20 or more years ago, but I do still have the desire. I do suffer somewhat from ED most likely due to my BP meds and although I can still easily get an erection, I have difficulty maintaining it long enough for insertion. I still perform very well orally and can easily achieve orgasm by self-stimulation. My sexual partner who is also my age is very understanding and enjoys when I go down on her and returns the favor. She says she likes oral more than intercourse but I feel she is just saying that so I won't feel disappointed by not being able to penetrate her. And just to add we have not been together but a few months. I'm sure there are others of you out there in similar situations and would like to hear from both males and females who are like me and would share what they do with their partner.