Whoa whoa whoa… I need help here, please

Watching TPB Season 9 Episode 9 “Samsquanch and the Helicocksuckers”. About halfway through the episode Ricky is talking to Lucy and Trin.

He says to Lucy “I can’t wait to tap that, it’s gonna be nuts”

Trin says “Dad!”

Ricky: “Sorry Trin, it slipped. I’m tapping that later, might even tap that if you let me”

When he says the first part of that last sentence, he points to his daughter. Did I misread something or did Ricky say he’s gonna bang his daughter?

Please ungrease this for me