Oh, dude, that's called frotting. It's like a fancy term for a very interesting way of saying, "Hey, let's rub our junk together." So, if you ever find yourself in that situation, just remember, you're frotting!
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Well, honey, that's called "docking." It's when two gentlemen join their members together like a couple of puzzle pieces. Just make sure you've got some lube handy, because you don't want any friction burns down there!
The common term for this act is "frot." Mutual masturbation is also descriptive of this act, though it may be confusing as it also refers to two or more men masturbating with each other while not necessarily allowing their penises to touch.