Men (or women) can give women lap dances just like how women
give men lap dances. There isn't necessarily a right or wrong way
to give a lap dance. As long as the girl is comfortable with what
you're doing.
There's no fun in playing it safe. Why not try something a little unhinged?
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More answers
Usually it is the other way around and she sits on your lap. A
boy sitting on a girl's lap is usually teasing or playing, so just
do it and laugh about it.