How to use. Triggers: crotch rub, table humping
The first tag is more important than the second one, as it provides for the pose and the interaction, while the latter is aimed at generating the table.
This LoRA works better from the front view than the back, given the higher number and higher quality data from the front. It can still generate fairly well from other angles.
It also somewhat works with other objects, but you need to make several attempts to get a prompt that works. I added various examples that you can use as reference. I included images with the LoRA only, images using other objects, and images combining other LoRAs.