It may depend on the provider, but it’s usually her doing the rubbing of privates on privates. In my experience she wants you laying and letting her take lead. As for penetration, assume no if it’s not stated. Most of the time she either makes it very clear she doesn’t offer full service or provides it as an actual menu item. But I have come across a few that advertise massage and say nothing about sex until after you screen. Then, all of sudden she shares her menu with you.