The act of exposing
only one's penis, while remaining otherwise
fully clothed, in order to have sex.
This is typically done by utilizing
the zipper or fly of one's jeans to free the penis.
Morgan: You had sex with her in the kitchen?!! What if someone walked in?
Nate:
No big deal, I still had all my clothes on, I was just kinda
poked out.
Morgan: That's fucken hilarious!