Strap-on devices and sex toys are one way. Fisting (hand sex) the vagina and/or rectum is another. Oral sex is yet another. They also practice tribadism, which is a type of frottage (rubbing), where they rub their clitorises together. One variation of that is scissor sex. In that position, their heads are at opposite ends, their legs are entwined to where their vulvae are touching each other, and their bodies are rotated at 90 degrees from each other. Then they "grind" at each other until they both reach climax.
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