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When you lay your penis in the crack of someones ass stimulating a taco. It can be a hard shell or a soft shell depending on the person.
guy 1: Yea dude me and ur mom were making some penis tacos last night
guy 2: Eww man that's my mom ur talking about
guy 1: they were hard tacos
guy 2: ahhhhhhh!!!
by DuRt April 19, 2013
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