Dock
Reference
Definition
In sexual slang, to dock means for one participant to insert the tip of their penis into the foreskin of another participant. The act is called docking.
Quick Facts
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What does “dock” mean sexually?
“Dock” is a sexual slang verb for engaging in docking: one participant inserts the tip of their penis into the foreskin of another participant.
“Docking” is the noun form for the act itself.