when you kick someone's door in and rob their house. the reason for it being named "hiyah" is because it resembles a powerful karate kick(doesn't have to be a karate kick, just strong enough to open the door)which you would yell "hiyah"..you don't yell it though, unless you want them to know you are trying to rob them.
boy: heyyy, will you say some cute shit to me, while asserting your female dominance on my dick?
girl: Aww, come here you! Hiyah!
*kicks boy in the dick*
You cute lil horny beast, I’m like a sexy tiger! rawr!