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Mutual masturbation (also called manual intercourse) usually involves the manual stimulation of genitals by two or more people who stimulate themselves or one another. ġ840 Johann Nepomuk Geiger depiction of mutual masturbation These include frottage, the sexual act involving rubbing frot, the sexual act that refers exclusively to male-male genital rubbing without penetration (but may also be referred to as frottage) and frotteurism, a paraphilia involving obsession with frottage or performing frottage non-consensually (e.g., pressing one's genitals against a stranger on a crowded subway) this was once called "frottage", but the usage is no longer acceptable.
Drawing by Franz von Bayros showing an act of fingering