I'm sure most of us have been, or would like to be, tied up with someone else. I came up with an idea which I've actually done in the past, and it works just wonderfully.
With all the equipment at hand and ready, each ties the other's ankles, then goes to the knees, then ties the gag in place. Now person A ties person B's hands tightly, then person A puts on cuffs behind his/her back, making sure key chain is near to hand. Now both persons are completely tied and gagged.
What you do from here is up to you. SNuggle together on a bed, just squirm and mmph, enjoy the way you look and sound - whatever.
When it's time to end the scenario, Person A can back up to Person B and untie the ropes, or Person B can hop to the keys, get them, back up to Person A and unlock cuffs.
Have fun - and let me know how you did!