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"Reach and grab" happens when you and your friend are situated so that one of you is laying on the floor and the other is elevated typically on a couch or something. Then, you call out "reach and grab!" and blindly fumble around for anything you can handle on your friend, hopefully something like his dong.
Ted: Dude, I had quite a successful reach and grab the other day.

Johnny Quidd: Really? What you find bra?

Ted: a penis

Johnny Quidd: sweet
by Leonard "Glass B Boat" Washin October 04, 2009
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