Green’s Dictionary of Slang

of a man, to have sexual intercourse.

1700		‘The Jolly Miller’ in Playford Pills to Purge Melancholy II 273: She went, and the miller so grinding did Ply [...] Hoy, were ever two Sisters so Lerricom Poop’d.
c.1731		Merry-Thought III 3: I poop’d her behind, but no Body see’t, And she prov’d ne’er the worse for my using.