If you've got access to a bar like this at home and you haven't yet tried your own version of Monkey Bar, now is the time! Not only is it physically invigorating, it creates an unusual sensation of penetration.
In order to make it work, the giver must be prepared to do partial pull-ups repetitively. This requires cardiovascular strength and fit arms. By reaching behind and holding onto the giver's hips or buttocks, the receiver can help keep them steady and direct the focus exactly where it’s wanted.
Height differential might make this challenging but it’s nothing a high pair of heels or a mild squat by the receiver couldn't fix.