Can be done with the mods that allow for animations currently, a bit of it is in my Marie's Service script, but without the collision on the penis and feet being
exact to the model's dimensions, I don't know how that'll be implemented. Currently the collision is ever so slightly larger than the penis so either you reduce the ragdoll length, which reduces the collision size and prevents the foot from actually making the penis move and it looks kinda fake, or you deal with the foot not directly touching it visually.
In that script I tried to use the PoV perspective to make it look like it was touching in some of them when it's actually not quite.
We basically have the same issue with trying to do tit jobs, butt jobs, intercrural sex, anything like that, however you can make a pretty convincing looking scene for intercrural/thighjob by lowering the ragdoll length with FaunaLabs.
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