Green’s Dictionary of Slang

to have sexual intercourse.

1925		E. Field ‘A French Crisis’ in Facetiae Americana 19: Rasp, roger, diddle, bugger, screw, canoodle, kife and mow.
1937–84		Partridge DSUE (1984) 960/2: C.19–early 20.
1976		D. Ireland Glass Canoe (1982) 13: He [...] gave her some drinks and was going to town, rasping away.