When you lay on top of someone's body while they're laying down/sleeping, wrapping your arms around their torso and having your head under theirs. (+bonus if legs are wrapped around waist/lower torso)

(noun) A successful type of theft which results in an acceptable, impressive and rewarding payday for the protagonist.

To mimic a cat clinging onto its owner's front, but during sexy time. Embedding nails into partner's back is advised for accuracy.