Hanky panky can refer to two different things:
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Sexual activity, especially when regarded as somewhat improper. It is a slang term that has been in use since the 1840s.
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A brand of lingerie, sleepwear, and swimwear. Hanky Panky is a company that specializes in comfortable lace thongs, bralettes, and other lingerie items. They are known for their quality and sustainability.