`frottage,'' this amounts to rubbing your body against your partner's genitals (possibly while wearing clothes, possibly not).

Sexy dancing at some of the less inhibited nightclubs can amount to this, as can (for women with male partners) finding a moment of privacy to back up into your partner and rub your butt against them. For women with female partners, it can amount to rubbing yourself against your partner's thigh. Another popular form of frottage is taking a shower together: between the water and all the slipperiness it's a perfect opportunity to rub your body against your partner's in sexy ways.