Green’s Dictionary of Slang

1. (US black) to have sexual intercourse.

1650		H. Neville Newes from the New Exchange 5: Lord Willoughby […] hath now taken a journey to the Barbados, and means to pipe her one way since he cannot another.
2012		Chief Keef ‘I Don’t Like’ 🎵 I only want the top, I ain't tryna pipe.
2017		Skengdo ‘Macaroni’ 🎵 Pipe your sis, pipe a girl, no manners.

2. (US) to perform fellatio.

1981

H. Gould Fort Apache, The Bronx 66: That’s the first thing these fuckin’ kids do when they come on the job: Get piped by some broad and then they walk out on their wives.