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A friction dance is a type of lap dance performed in a strip club where the dancer grinds her body against the customer. The dancer may be nude, topless, or dressed in a bikini, depending on the club and the laws that apply where the club is located.
A friction dance is a semi-private or private dance where the dancer actually sits on the customer's lap and grinds herself against them. The dancer will also do tricks like doing headstands in the customer's lap. The customer may be allowed to place hands on the dancer, but this will be limited. Some clubs do not allow any contact between customers and dancers but that is increasingly rare; most clubs now offer friction dances.