Make them handy!
Make it easy to use condoms. Make them accessible. You may not always have sex in your bed, so have stashes of condoms in other places you may get your groove on. Have stashes in the kitchen, next to the shower, near the couch (maybe inside a book or magazine if you want to be discreet), in the washroom/dungeon... you name it. Just remember that condoms degrade in extremes of heat and cold, so don't use condoms that have been sitting in your car for a week in June!
The heat of the moment gets many of us, and can turn years of safer sex into an "uh oh" moment. It's hard to remember in the heat of the moment the anxiety of waiting 3 months for your HIV test and the worries around being infected or possibly infecting others. If they're within reach, you don't have to interrupt your fun by getting up and grabbing your safer sex equipment. Plan ahead, and make it easy to play safer.