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Where you grope someone tits, ass or genitals without them wanting to.
Person 1: Dude I totally semi-raped megan in the ass today.
Person 2: I do not condone that at all and you should always get permission first.
by Rodent Bangs January 11, 2016
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2
Semi-Rape is when someone decided to rape you with a semi-boner
I semi-raped my uncle Christmas
by Nightmaredv August 13, 2018
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