When two guys, gay or straight, slap their flaccid penises together.
Dale: “Dude, we should soft dock right now.”

Pete: “Totally. Soft docking and cryptocurrency are my two favorite things!”
by Fun Dilly Dilly January 3, 2018
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When two flaccid, uncircumcised penises meet in such a fashion that the foreskins intermingle in to one dually attached mass of penis. This is also referred to chinese penis cuffing.
Shuttle - "Slowing to docking speed"

Space Station - "the skywalk is extended"

Shuttle - "Approaching"

Space Station - "Soft dock achieved"
by bparkzd00d July 22, 2013
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