Maybe I'm a horrible person, but I don't think taking someone's hand and placing it on your dick is such a horrible, disgusting thing to do when you're in a situation like the one described in that post.

Keep in mind that in the original post it only happens after dating, kissing, fondling and fingering without protest. At that point, if you describe the next step between two consenting adults out of context it's going to sound "rapey".