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Hands In The Sexy Pants is when you or your lover (or both of you) stick your hands in each other's underwear and feel around like a feral animal looking for a snack.
My man stuck his hand in my pants during lunch like he was trying to steal my sandwich.
She reached into my pants during the meeting like I had a secret stash of donuts in there.
We did H. I. T. S. P. in the grocery store while pretending we were just checking out.