Green’s Dictionary of Slang

(a) to stimulate the penis to erection using the hands.

1656		R. Fletcher trans. Martiall his Epigrams XI No. 30 102: By thy old hand and wayes / My languishing desire to force it come / Phillis I’me tortured with thy active thumb. [...] Thus Phillis rub me up, thus tickle mee.
1680		M. Stevenson Wits Paraphras’d 24: But I shall strive to blow the Embers, / And study to rub up your Members.
1772		Bridges Burlesque Homer (3rd edn) 42: E’er since I saw [...] that thetis stroking / Your knees, as on the ground you sat, / And rubbing up, the Lord knows what. [Ibid.] 265: They’ll make her glad to take her stand, [...] and earn sixpence if she can, / By rubbing up an alderman.
1837		‘She Couldn’t Make Him Stand’ Icky-Wickey Songster 17: She rubbed him up, she rubbed him down, / But she couldn’t make him stand.
1888–94		‘Walter’ My Secret Life (1966) IV 829: A woman may rub it up to stiffen it, the man always does so if needful.
1974		G.V. Higgins Cogan’s Trade (1975) 45: So I say to her: ‘[...] I come here, get laid. Never mind all this other shit.’ And she’s rubbing me up.

(b) to stimulate the vagina.

1772

Bridges Burlesque Homer (3rd edn) 5: Thou that rubs up the girls of Lilla.

(c) to masturbate.

[1684		Rochester (attrib.) Sodom IV v: Ile make em rub till prick and Bollocks cry / You’ve frigg’d us out of immortality].
[1842		Wkly Rake (NY) 13 Aug. n.p.: the rake wants to knowWhat that nasty beast [...] was rubbing so hard at on Tuesday].

(d) to have sexual intercourse.

1970		A. Sillitoe Start in Life (1979) 70: And now that you and Alfie Bottesford have been rubbing up together so that he’s got you loaded, you come moaning back to me.
1994		M. Montague Dread Culture 110: Yuh just waan mi fi leave so dat yuh cyan rub up wid yuh woman all night, right.