Asking your wife or girlfriend (or secretary) to give you a footjob can be embarrassing. It's not something most guys could just bring up in conversation. So here's a method that might just work for you!
Next time your lady is wearing nylon pantyhose make sure to pay extra attention to her. Tell her how good she looks, and do it often. When you are alone, tell her you would like to give her a foot rub, most women can't resist this offer :) Make sure to sit in a way so that her feet are resting on your crotch.
Give her feet a good rub, but while you're doing it imagine her feet stroking your cock. This will obviously give you a massive hardon, and with her feet on your crotch she will notice it! Most women are sexually aroused by a man touching their feet, so she will already be in the mood. Gently persuade her feet to rub your cock through your pants. With any luck she will get into it, and you will be able to remove your pants to allow her to give you the footjob you have craved all of these years! :)