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1.
To engage in sexually explicit activity with another or multiple parties. Usually after a party or late at night. Not necessarily exactly at midnight.
I heard Jim and Lilly went on a midnight adventure last night.

Oh?

Yea, they did some freaky shit and now they wont talk about it.
by Jimbo125 July 01, 2008

Words related to midnight adventure

fuck get it on hook up late night sex