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When you slip your penis in her vagina when in bed together ..... unbeknownst to herself.
Phil came in from the pub last night, and in an attempt to avoid an argument with amy, he performed the sliparoo so as to not wake her up
Sliparoo by Simpson Eire December 11, 2011
Related Words

slip a ginger

To slip a ginger is to take a beverage from the fridge that someone brought over at a previous holiday gathering. The person wasn't expecting to have any of their preferred beverage, in this case ginger ale, at the next holiday gathering, but would've been pleasantly surprised to find one. But they won't. Because you slipped their ginger ale a month before Thanksgiving. They won't notice, of course, having not expected the ginger ale to be there. But it would've been a nice surprise, albeit small. It'll never happen, though, because you slipped their ginger.

It's like shitting in someone's Cheerios, but it doesn't ruin their day, only what might've been, and only slightly.
Stony guy 1: Did you just slip a ginger from the fridge in the garage?

Stony guy 2: Oh shit! I didn't even realize!

Stony guy 3: That's the subtlest tragedy I've ever heard while still being categorically sad.
slip a ginger by BeaverHockey September 27, 2013

slapsterbating 

The erotic slapping of the genitals with the intentions to ejaculate.
Diedra is in to wild things. Her foreplay consists of her partner sensually slapsterbating her Clitorus maximus.

quick slip 

a person who masterbates, gets themselves "off", or the like
Wow, did you see that quick slip. Yeah, I can't believe that he was quick slipping in the bus stop next to that woman.
quick slip by a_person_who_cares September 1, 2005
When taking a sip of a liquid, part of the liquid misses your mouth and gets all over your clothing.
Steve-(about to take a drink) Hey! ( liquid misses his mouth and gets all over him)
Laura- HAHA! You tottally just sip-slipped.
sip-slip by Laura Lu March 7, 2007

the slip and slide 

Her vagina was so wet and tight that it felt like playing the I was playing the slip and slide with her when I had my erect penis inside her cunt.