The act of "aggressive salsa dancing", usually done against a wall. Is, or could be related to act of orgasm.
Guy: Hey, you like stuff
Girl: Well yeah, what'd you have for lunch
Guy: Shrimp and a couple tacos, so anyways, let's go penetrado.
"Beth, put your hands on the wall, for it is time I showed you the ultimate dance move of all, the penetrado"