reach and grab

"Reach and grab" happens when you and your friend are situated so that one of you is laying on the floor and the other is elevated typically on a couch or something. Then, you call out "reach and grab!" and blindly fumble around for anything you can handle on your friend, hopefully something like his dong.

Ted: Dude, I had quite a successful reach and grab the other day.

Johnny Quidd: Really? What you find bra?

Ted: a penis

Johnny Quidd: sweet

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