I just became aware of something called a 'panty job' which is where the girl grinds the guy while wearing a thong or full-backs until he cums sometimes with sometimes without any penetration (so basically a lapdance).
Here are some examples:
1) This woman wears full-back white underwear however it's beautifully sheer ans sexy. She starts off in a dress and gives him a lap dance then grinds him until he cums:
2) Redhead in light-blue lingerie: