The act of touching, kissing, slapping, grabbing, humping, licking, pinching, grinding on, sucking, whispering into the ear of, etc a friend in a sexual (& mostly joking) way, but it not being sexual because they are your friend and will never be anything other or more than your friend.
You grab your friends ass in a sexual way while drunk and someone gasps at its inappropriateness or thinks there is something more going on between you, you say... "It's ok, it's just friendsual"... & all shall be understood!
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