Wiktionary
dry hump
vb. To simulate intercourse while clothed.
Usage examples of "dry hump".
She'd explained to Lisette that she'd ditched that greasy slob when he'd tried to dry hump her on the dance floor, but how do you reason with a silly thing who faints at the sight of a snake?
Sometimes to visiting widows with more money than love, who'd hire him for a weekend of illicit meetings, sour, insistent kisses and perhaps, if they could forget their dead partners, a dry hump on a lavender-scented bed.