yes but... it didnt feel nice... i was dating a not attractive lady and she made me cum on purpose and left me in a cafe with visible erection and stains on my pants
btw.. the question was, did you grope actively someone, not being groped
it was never a source of arousal for me, though i've met a person for whom it was a gigantic turn so i experienced quite a lot with her.. in a rough way
shave cock regularly, trim pubic hair... asshole.. i used to shave it.. for a professional reasons, lets call it that way.. but it was a nightmare if you dont know why, just try, youll see in no time