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!