There are various forms of lapdance performed with more or less the same objective of teasing or exciting and/or gratifying the feeling of physical contact between the sexual organs of the bodies.
In a Lapdance, a female(generally) may rub her breasts,groin,vagina on Male's Penis,chest or even face all the while dancing seductively.
There are Strip Clubs that charge some amount for those interested in getting a Lapdance. Sometimes it goes beyond that and leads to sexual activity between the lapdancer and the customer.
" That country club has good Lapdance offers starting from $20, I plan to get my first lapdance this weekend there."
Me: No thanks, you dried up hussy. I'd rather bore holes through my knees with a rusty drill bit.
see also: dry hump