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In the Undertale fandom, it is how the gay couples have children by rubbing their souls together. Commonly used for Chara X Frisk fan fiction.
Chara and Frisk when to the bedroom for some soul touching.
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A new horizon and or level of making love to an individual beyond natural measure, it is so satisfying that it escalates to a spiritual leve.
We soul touched on the kitchen counter last night.
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