To insert (a bodily extremity) as far as it can go into a sexual orifice so that it is impeded by the wider base to which it is attached (finger until palm, penis until pelvis).
Origin
From Middle English hilt, hilte, from Old English hilt, hilte, from Proto-Germanic *heltą, *heltǭ, *heltō, *hiltijō, (compare Old Norse hjalt, Old High German helza, Old Saxon helta), from Proto-Indo-European *kel- (see holt).
Modern English dictionary
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