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The act of "aggressive salsa dancing", usually done against a wall. Is, or could be related to act of orgasm.
Guy: Hey, you like stuff
Girl: Well yeah, what'd you have for lunch
Guy: Shrimp and a couple tacos, so anyways, let's go penetrado.

"Beth, put your hands on the wall, for it is time I showed you the ultimate dance move of all, the penetrado"
by Woody11 January 08, 2006
The first moment of penetration during intercourse
Alright, enough head already, let's get to the penetrado.
by lift-ticket August 14, 2006