Green’s Dictionary of Slang

to have sexual intercourse with; lit. to gratify sexually.

1605		Chapman All Fooles I i: All day in ceaseless uproar with their households, If all the night their husbands have not pleas’d them.
1672–96		Sweet Williams Kindness n.p.: He’l ready be to please you all, And do the trick against the wall.
1700		N. Ward ‘A Step to Stir-Bitch-Fair’ in Writings (1704) 252: I’ve something in my Breeches: And [...] can please a Young Wench, if she be but willing.
c.1800		‘The Cooper o’ Dundee’ in Burns Merry Muses of Caledonia (1965) 134: The most o’ his trade lay in pleasin’ the fair; / He hoopt them, he coopt them, he bort them, he plugt them.
1837		‘The Frolicsome Wife’ in Rum Ti Tum! in Spedding & Watt (eds) Bawdy Songbooks (2011) III 156: But at last she was pleased with the frolick and trick / [...] / He pleas’d her so well that transported she lay, / Contriving and plotting for his longer stay.