I'm sure this has been done before. It's when you rub penis to penis. I just did it with another guy earlier today. Anyone else ever experience it?
I thought it was really hot. At one point I picked up my sack and put it on top of his, and just admired my balls sitting on top of his.
Rubbing dick-to-dick is called "Frottage." Check it out on Xtube. Yeah, there's a name for most things.