"get their freak on."
Dude, super 2001! B-more's in a Time Warp of some sort... that's kinda awesome.
Down here we call that shit "wining", as in "winding", as in "grinding", as in "best dance ever cuz as a guy you just have to stand/lean there or at most move a little to the beat and let the girl take care of all the rest of it". It's pretty much accepted that Bajans, then Trinis and Yardies are the Caribbean's best dancers. I can vouch for the Bajans!
FWIW, it's not bad form at all (in fact, it's pretty much expected) for a guy to have major wood while being danced on, here.
And there's where mine and Amy's mentality differs from your average West Indian's. Dancing like this means very little here. Otherwise happily married folks happily dry-hump people other than their parter in the name of "dancing" with no hangups at all. There's some mentality that when music's playing, all bets are off. I've never understood it and thankfully I've found someone from the region who feels the same way. We dance with each other, and enjoy it, or she dances alone/with girlfriends. And I drink and watch.