Rubbing of the glans (end of penis) against the vagina wall sets of a reflex action, causes sperm to be released from the testes, and is transported by peristalsis along sperm ducts and urethra, where seminal fluid is added to make semen.
The exit of semen from the penis is called ejaculation.
Sperm then swim through the cervix and oviducts to the first third of the oviduct (from the ovary) where one combines with the egg.