outercourse
Non-penetrative genital contact. Sexual contact that is not intercourse, oral-sex, or anal-sex or sexual contact where neither partner has a penis. Partners rub their penis, vulva, anus, clitoris, etc against each other. There is still a risk of STD/STI because there is still genital contact. There is also still a risk of pregnancy if ejaculation occurs.
My girlfriend and I have outercourse so that she can come too. I rub my penis against her clit before I penetrate her.