When two peoplerub there privates together while wearing there underwear.
Chad : How bout you ride Chad's cock after work babe!
Kiersten : Sorry I'm on my period I would rather avoid the mess!
Chad : But I need to clean the pipes I guess i'll jack off tonight!
Kiersten : Hey how about A Undie Rub I know that would make you cum?
Chad : Sure i'll bring some extra underwear!
Meaning: "not in my severely limited knowledge".
Commonly used by politicians and any other professional who doesn't know what they're talking about.
This is the most overused word of our generation.