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It's called "frottage."
I had a girlfriend who had vaginismus. She was psychologically incapable of penetration. If I came anywhere near to getting inside her, she'd reach down and grab my cock with her fingernails, and dig right in.
She was not aware that she was doing this.
Anyhow, she could do frottage. Sigh.
Bitch was fucking all kind of nuts, though, it wasn't just the vaginismus.