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What is classified as penetration?

I was on top of my gf. We both had cotton shorts on with no underwear. We were dry humping and she felt my penis poking her at her vagina entrance. I didn't feel it and know we didn't have penetration. She thinks there was a slight penetration. My question is, is it possible to penetrate with clothes on?
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1029273 tn?1472231494
Hi,
If you didn't feel any insertion, I would doubt that penetration took place, especially since both of you were wearing shorts at the time. The clothing would act as a barrier most likely. If she has never had sexual intercourse before, she could always check (visually, w/a mirror) to see if her hymen is still intact, or not.

Take Care
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