Nanba Kousuke Ikasete Nanbo!

Your character is commissioned by a fairy to hunt down and have sex with a number of girls, or else... something bad will happen, I guess. For reasons best left unknown, two of your friends join you. This means whenever you encounter a girl, it goes to a needlessly complex sexual combat screen, where you and your two friends attempt to bring the girl to orgasm before she does the same to one of you. Techniques you can use on her included disturbing dances in nothing but your skivvies.