joust

A tilting match: a mock combat between two mounted knights or men-at-arms using lances in the lists or enclosed field.

medieval joust

To engage in mock combat on horseback, as two knights in the lists; to tilt.

The knights prepared to joust in the tournament.

To engage in verbal sparring over an important issue. (used of two people, both of whom participate more or less equally)

verbally joust

Politicians often joust with words during debates.

To touch penises while engaging in a sex act, especially oral sex.