To “grunt the semi” is to drunkenly gyrate ones partially erect penis against consenting older (40+) women on a nightclub dancefloor. Apparently, this is something of a trend amongst the younger monkeys.
The act of stimulating one's grundle using slow, clockwise, circular motions. One doing so without disruption of their natrual breathing pattern becomes a professional, grunder.
Steve reveals his beetroot, shiney, Jewish nose and begins furiously grunding Atilla whilst plundging his throbbing licker into his copper badge.