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Lap Dance

Usually used in reference to a dance performed in a Strip Club.  This is a type of dance where the patron is seated and the stripper dances in close proximity to him, sometimes literally right in his lap. Depending on the location, this type of dance may involve significant amounts of contact, either one-way contact in which the dancer sits on the customer's lap and possibly grinds herself into him, or two-way contact where the patron is allowed to touch the dancer.  Definition courtesy of http://www.stripclubcentral.com/.

Resources

E-How has a great article on how to receive a lap dance: http://www.ehow.com/how_2273215_receive-lap-dance.html