Sooo...hope it's not bad form but here are the Kitty Sprite versions of the Cat Keyhole Lingerie for both arm poses, up and down variants on the panties.
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Try to get to DS later today...that frill is killing me!
You basically need to get them to do sexy things to you in public. Do it enough times and they start to enjoy the attention.
As far as I can tell you need inhibition (whatever the bar to the left of your ween-o-meter is called) high and either love or discipline high to make it easier/possible.