Petting - caressing
Petting can be described as a preliminary stage to sex.
It could also be described as sex without intercourse, as everything from stroking all over the body to stimulation of the genitals is allowed, except penetration.
Petting is often used as foreplay before the actual sexual act.
Caressing, kissing, exploring erogenous zones to increase arousal until the actual sexual act takes place.
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https://www.bdsm-sex-dictionary.com/glossar-detail.en.php?id=408
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