When a top/dominate inserts their penis or penis-like object into a bottom/submissive's vagina, anus, or mouth and keeps it there for warmth and pleasure. Could be considered a more intimate way of spooning.
After we had sex, he stayed inside me and I fell asleep cockwarming him.
Pajama casual is a term used when working from home and preparing for a video conference. All business above the waist and your pajama pants down below.