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Dry sex is when people rub their bodies together in ways that feel good. Most of the time, people have dry sex with some or all of their clothes on. They rub their bodies together, usually in ways that make their genitals -penis, vagina, clitoris -- feel good. Sometimes, this will give them an orgasm. Sometimes, people have dry sex with no clothes on, but there's no penetration. That means no penis, fingers or other objects enter either partner's body. Dry sex is called that because there's no swapping of body fluids, reducing the chances of pregnancy or disease.
For heterosexual couples, it is important for the guy to ejaculate away from his partner's vagina if they are rubbing without clothes on. If his cum (ejaculate) spills onto her vagina there is a chance for a pregnancy to begin - even if his penis never enters her. This can also be risky for sharing STDs.
Dry sex can give you sexual pleasure and orgasms, so it's definitely a type of sexual activity. But, there's a lot less risk then with sexual intercourse, unless of course you get carried away and end up having "wet sex." It can be a good idea to talk beforehand about how far you want to go or don't want to go and have safer sex supplies (like condoms and dental dams) nearby just in case.