A Knickerbocker Glory was, when I was a kid in England, a sort of ice cream that came in a long glass. I´m not sure what sort of ice cream was in it, but there was whipped cream and sauce on top. And a wafer
Rubbing a hard penis or hand against your female partners knickers. No penetration should take place but an orgasm can be achieved through this technique.
It results in the female having to change her knickers afterwards as they will be suitably wet.
We rubbed each other senseless through the knickers region until we both came like teenagers having knicker sex