My view of "lapdancing" was based on a god awful film years back called Showgirls (1996) it had that chick out of Saved by the Bell doing full frontal nudity with Gina Gherson.
Her version of Lapdancing- was actually dry humping (the act of grinding her pussy up against a seated Male's lap whilst riding up and down cowgirl style).
Also saw this "pussy grinding" fetish in a sex/swingers/bondage documentary.
I had a lapdance once in the champagne room VIP section of a well known strip club (stole someones wrist band for discounted entry) and was disappointed there was no actual contact. But the Stripper DID remove her thong for me when I asked to see her pussy (even though it was against house/licensing rules apparently
But pussy grinding- yep its all part of the foreplay and I tend to find the Escort finds it unique and a turn on too