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intercrural sex

n. A non-penetrative form of sex in which a man's penis is stimulated between his partner's thighs.

Wikipedia
Intercrural sex

Intercrural sex (from inter- and Latincrura, "legs"), also known as femoral/interfemoral sex/intercourse, is a type of non-penetrative sex, in which a male places the penis between the receiving partner's thighs (often with lubrication), and thrusts to create friction.