bump and grind

Short definition from Wiktionary

Noun

1. 1
   A sexually suggestive dance involving exaggerated hip movements, especially a striptease dance.
2. 2
   A combination of movements resembling such a dance, as in road racing, whitewater kayaking, or exercising; any activity involving prolonged jarring or shaking.
3. 3
   Alternative spelling of bump and grind.

Verb

1. 1
   To perform such a dance or such movements.