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Dog nosing 

On sharing a bed with a male friend, usually drunkenly, and awakening in the early hours to feel a sensation not disimilar to a dog, gently but persistently nudging your upper leg with it's nose, as if wanting a walk or a bone. I's not a dog. But it does want a bone.
Urgh, I was so pissed I passed out on Dave's bed, and woke up to find the desperate c**t dog nosing me. I played dead and eventually he stopped.

Nah I didn't shag him - I think he might have dog nosed me but it was too half hearted and torpid to warrant any response.
Dog nosing by Lizabeast May 13, 2010
Related Words

Dognosing 

When spooning in bed with a partner, dognosing is pressing the glans of one's cold, flaccid penis to the small of their back and adjacent areas, preferably post-coitus and with a drop of urine/semen clinging to the urethral slit.
My girlfriend kicked me out of bed for dognosing her.
Dognosing by Nonsensicalme May 28, 2017