When one semi-fucks another, both are totally nude except for the chick who wears her panty's. This allows the dude to "Pussy Prod" or insert as far as the panties physical limitations will allow. Usually performed by virgin girls who are not quite ready for a right fuckin'. One step beyond the dry hump, however not quite penetration
"Dude, I totally panty fucked that chick"
by Eric Frazier September 03, 2006