Wiktionary
dry-hump
vb. (context ambitransitive English) To simulate sexual intercourse without the genitalia directly touching, i.e. while wearing clothes, or by rubbing the genitals against something else.
Usage examples of "dry-hump".
The girl who has let me undo her brassiere and dry-hump her at the dormitory door, grew up in this white house.
The moment Hoke got out of the car, the dog, slavering, gripped Hoke's right leg tightly with his forelegs, dug his wet jowls into Hoke's crotch, and began to dry-hump Hoke's leg in a practiced, determined rhythm.
Yes, they're still together, uniting daily before Chem for a pre-third-period dry-hump against Burke's locker.
He was still fully dressed, so she dry-humped him in true lap dancer style.