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A baseball hitting drill where the batter hits balls into the backstop to hone his skills. But in this case, slang for any degree of sexual activity.
As in...

Q: Where's Dan?
A: He and Beth are upstairs playing a little soft toss.
by Foreman February 14, 2006
14 4

Words related to soft toss

foreplay heavy petting making out sex slap and tickle