When I was a single guy I had fun with couples being the 2nd guy(stunt cock). The best solution to your husband's worries about touching the other man is, as always in swinging, communication. One couple made it very clear they did not want that so I made sure it didn't happen. Other couples wanted something inbetween right up to some MM stuff. Personally once everyone is naked and playing I don't worry about it. Sex is Sex and as long as everyone knows the limits of the others we can all have fun.
So in your case just talk about it with the prospective stunt cock.
As others have said, swinging is always less complicated if you keep it out of family and friends. Not that it can't be done, just simpler.
Have fun!!
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