Intimate Couples Massage?

A woman "friend" of mine (lover) has just had a birthday and I was thinking about trying to set up a erotic intimate couples massage for us. Now that I said it, I am really not sure what that means except I would expect a very sensuous hour or so where we both and the person giving the (I will call it "service") gets very close and physical with both of us. (She is pretty open minded and up for just about anything.)

My questions has anyone done something like this before (from both a giver and receiver)? Was it as exciting as I am imagining? Are any of you beautiful ladies up for doing something like this? I look forward to hearing your thoughts.