There are even a few totally risk-free ways to get sexual pleasure and be intimate with another person, like masturbating, and dry humping (aka grinding) with clothes on.
Low risk activities include kissing, touching your partner’s genitals with your hands, using sex toys with a partner, dry humping (grinding) without clothes, and oral sex. But it’s still possible to get certain STDs from these things, so using condoms and dams to avoid contact with skin and fluids whenever you can helps you stay healthy.
The Wall