The slower you do it, the better off you are. I have done it to my wife a couple of times (with her consent), and I find that if I can slowly roll her onto her back, I can get her pants/panties a lot easier. Make sure you unfasten the bra before you roll her over (if she is wearing one), and make sure she is in a deep sleep before you do the shirt/bra. Just take your time, and make sure she is in a deep sleep, and you should be able to get her mostly, if not all, naked before she wakes up. (permission to do so from her is the most important thing to get before hand, of course)
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