I love that feeling, a hard cock rubbing against my clit and up and down my pussy drives me wild.

(but not bareback)

Dont relive the 70s. If you knock on heavens door too many times you may end up on the highway to hell !

Dirty deeds arent always dirt cheap

Re:Is there a name for the sexual activity that consists of..

The lady in NYC who introduced me to this (and allowed it BB followed by protection before things went further) called it Simluated Safe Sex.  Whatever, it felt great.

Yea, but too many guys get too close to inserting -- not safe.

I've had many guys do this, and yes it feels good. However, it's their opportunity to feel something without a rubber but it's dangerous for us. I hate it when I have to keep telling guys, "Hey, put the protection on, please." And their response (always) is, "But I'm not going in!"  Very annoying to most of us.

Hugs,
Ciara

And, unfortunately, you don't want to refer to that unpleasantness for such a sublime pleasure.

I did this with GF's, and it drove them wild, but there has been only one tryster I did that with.  She boiled over.  I've wanted to do it with others, but the sessions just haven't developed in that direction.  It feels very pleasurable for the guy, too.  

I'm afraid to say, mrfisher, I don't quite like your term.  "Knocking" seems to be a little harsh to me.  

There is a very good word for this that's otherwise almost out of use in our language: whetting.  "Whetting her deeper lips," "whetting her deepest hunger," or perhaps simply: "whet-massaging her," or "massaging her whetness."

giving me a lap dance... and she got into the "grinding"  wow....  She was going at it like there was no tomorrow - as she had danced for me a couple of times, we kinda knew each other...  Well, she is a great actress - so I figured here we go again with her usual acted antics.... but then as she often does, permits my digits to explore and low and behold she was more than a little damp!  But she keeps her clit slipping with a click... on my cock!  what  a sensation - but she is getting more intense....  All of a sudden she jumps back on my knee, puts her hand between her legs and rubs a couple of tugs, while positioning my penis through my pants....

Next thing I know, she is super damp all over - and suddering... She then does a go-go no-no and kisses me!  wow.... I looked at her and grined and said, "we've got to quit meeting like this!"  Her response was that she was thinking the exact same thing....  

Frottage...   think that this counts as that???

I call it "BBSG"

My acronym for "bareback slippery grinding". Is awesome when is combined with a FBSM.
Is NOT bare fucking, just skin to skin teasing that makes guys go wild.
And it cannot be perform in every guy, sorry.
Body type & lenght of the penis defines how erotic   the gliding & griding will be.

We have always called it porpoising. Like the little flipper dolphin coming up into her view and then disappearing. You can patent it though if you wish......

Knockin On Heavens Door

Is a great name...damn that feels good