My friend wants a lap dance!?

So every time my group of friends and I get together, we play truth or dare. Tonight when we were playing I got dared to give a friend a lap dance but I didn't get the chance to cause I had to leave but he texted me saying "next time we hang out I'll be looking forward to that lap dance ;)" /: I wanted to, but I honestly don't know how! What do I do?! I'm 16 if it matters. would it make me a w ho re if I did? and would I do it in front of the group or taking him to a private place. Btw any music suggestions!? Thanks in advance!