frotation
See Hot Dogging. Frotation is the chicano slang for Dry humping with no clothes. The act of placing a penis between Vaginal lips, or Butt Cheeks and thrusting without penetration.
Miss piggy was looking fiiine, but didn't wanna get preggo and Kermy didn't have a condom, so they decided frotation was the answer, they frotated till he jizzed all over rizzo's face!