Here is the download links for June 2023 Blender animation scene, Mysterious Heroine XX Summer Doggy!
MEGA.NZ
In the folder you can find another simplified Blender file with a quick guide pictures on how to setup Bone Dynamic for the thrusting motion for both characters. (And the previous Queen Marika animation of this June 😋)
This is still quite complex so make sure to examine all the constraint and cloth/collision setting on these objects and proxy meshes, that will give you better undestanding of this "motion engine"🤗

Install this addon first to use some of ARP rig functions
(if you already have Auto Rig Pro installed then just ignore this!)
rig_tools_3.66.16

Recommended Add-on:
Optional Add-ons:
Cooms: