My husband and I have used a variety of lubricants, and we always come back to using the same one every time: Astroglide. All the others I've used are way too sticky and don't last very long (i.e. I have to keep applying them throughout intercourse). Astroglide isn't as sticky and lasts longer. I can't tell you anything about its taste, though.

Also, after we're done, I always wash up with soap and water to get rid of any excess lubricant. Mostly that's because I get vaginal acne if I leave it on me too long, but it's also because I hate having lubricant on my body when I'm not putting it to good use.