Someday people will learn to check fek's Trello before posting things. But not today.

https://trello.com/c/uMKDzgDF/544-finish-basic-body-on-body-interactions

https://trello.com/c/uMKDzgDF/544-finish-basic-body-on-body-interactions

Penis tool --> Frot

Take a look at R2CK's Trello, specifically at fek's "Finish basic body-on-body interactions" card in the Focus tab. Feet interactions are to be included in the game already.