To whip out your dick at a fruit stand, ice cream store, or ice cream aisle at a grocery store
"I'm gonna go ride the banana sled at Kroger. Wanna come?
1. Light-hearted joking
2. Lube-less anal sex
Closest synonym: joshin'
Don't get offended, bro. I was just humpin' the crumpet.
I didn't mean to kill your mom - I was humpin' her crumpet and my dick stabbed all the way through.