Juking is a form of grinding but juking is when the male & female, or female & female, are facing front to front while grinding is when the female's butt is to the male's front.
Many believe it is a form of dancing while others just think it's dry sex.
It is done in a motion of shaking your ass around while the guy holds on to you & follows your rhythm.
guy 2; "that'd be embarrassing dude.
whatev, just go bone her"
guy 1; "true that dawggg."