undie rub
when two people rub there privates together while wearing there underwear.
chad : how bout you ride chad’s c-ck after work babe!
kiersten : sorry i’m on my period i would rather avoid the mess!
chad : but i need to clean the pipes i guess i’ll jack off tonight!
kiersten : hey how about a undie rub i know that would make you c-m?
chad : sure i’ll bring some extra underwear!
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