for me as a survivor - doing some of the same things with my wife that were part of my abuse memories is one of the scariest things. it is not just the reminders of what happened back then - but also admitting that some of those things did really turn me on - as much as i hated it.
so now - when i am finally coming to terms with it all and can think about it objectively - i can recognize that there was nothing inherently bad about the acts - if done in the right setting, relationship, with mutual agreement, etc. example - being touched through underwear is a very big part of my history. it has been difficult for me to be comfortable with that in the past. now i find myself wanting my wife to do that - not as a way of re-enacting the abuse - but as a means of asserting - this is OK. i am over it. we are displacing an old bad tape with a new good one. my T calls it "re-wiring." it may be different for you 2 - but it's worth considering.
hope this helps a little.
As my life goes on I believe somehow something's changed
Something deep inside...
I've been searchin so long to find an answer
Now I know my life has meaning
Now I see myself as I am, feeling very free...
When my tears have come to an end I will understand
What I left behind: a part of me. Chicago