Frottage - More commonly known as dry humping; the act of achieving sexual pleasure with a partner or partners, whether naked or clothed, without penetration. The term frottage derives from the French verb frotter, "to rub."
A lovely quote from Jaid Black's "No Fear" that reads, "'Tis true, I cannot stop myself from frottaging you." Not all romance novels can be awesome, and this quote proves it. The pattern for the people came from an old cross stitch book.