The act of exposing only one's penis, while remaining otherwise fully clothed, in order to have sex.
This is typically done by utilizing the zipper or fly of one's jeans to free the penis.
Morgan: You had sex with her in the kitchen?!! What if someone walked in?
Nate: No big deal, I still had all my clothes on, I was just kinda poked out.
Morgan: That's fucken hilarious!