Penetration.

Grant's dick slides almost resistance free into Amanda's inviting cunt.

"Mmmm" She moans "Baby, fuuuuuckkkkk"

"Holy shiiittttt" Grant let's out a whimper

His cock is fully enveloped into Amanda's invited vagina. They can't go rigorously because of their placement.

"I'm going to slowly grind you until I cum" she whispers into Grant's ear.

Amanda keeps gyrating her hips slowly, trying her best to not bring any attention to them on the couch.