Green’s Dictionary of Slang

(US) to simulate intercourse; thus dry screwing n.

1923		R. McAlmon Companion Volume 237: This type of woman who finds [...] dry screwing safer, and fairly satisfactory.
1968		‘G. Faulk’ Gay, Gay, Gay World 37: [H]e practically dry-screwed me right there in the daylight [Simes:DLSS].