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I could manage it many years ago, when I was much more limber, but alas age has now taken its toll and my body no longer has the flexibility that it used to have.
I would first stretch my body by standing on my shoulders on my bed, with my back against the wall. Then gradually bring my legs forward & downward, thus slowly placing traction on the spine, allowing the penis to make its way towards my mouth.
Although this may, in itself may not appear to be the most comfortable of positions to achieve auto-fellatio, once I had stretched myself a while in this position, I was then able to sit normally on the bed & lean forward sufficiently to take my entire penis into my mouth, all the way to the hilt. Indeed, on occasion I would also take my testicles into my mouth as well, although this wasn't actually as pleasurable as it may first sound, but the mere achievement was, in itself, most arousing.