Penis pumps can help strengthen your erection and its firmness. Just apply some lubrication and place the pump over your penis. Pump the flexible bulb to increase the suction, slowly encouraging blood to flow into your genitals. Pumps have a quick release valve, so if the suction becomes too intense you can quickly reduce the pressure. Some harness compatible toys are hollow, allowing a penis to be inserted into them; if you are having difficulty forming an erection these can allow you to pleasure your partner with penetrative sex.