I live near the main strip of downtown Kobe, and twice a month or so I get little flyers for "delivery health", a chick comes to your house, if you let it be a random one it's like 100$ for 90minutes, and she will officially do absolutely anything except for penetration. Her driver waits outside, and you can request various kinds of cosplay or body types etc.
Like I said "officially", I know plenty of guys that do this and penetration is often involved.
(I haven't ever done it myself, my gf would slaughter me, so my info comes from what's written on the flyers and stories from my friend and you can do some online research on it too)
I can upload pictures but I have a feeling they would belong more on 4chan.
There are places you can go to called fuzoku, but they would never let a foreigner in so forget about that.
If you go to bars/clubs you'll be very disappointed, if you can even get in, the money is made off of you drinking and "thinking" you'll get some, but getting a light touch at most. They aren't directed at tourists but rather at return addict customers.
Honestly, if you just want to get laid and you aren't hideous, go to a dance club and you'll be the one to get picked up by what most westerners call a hot chick within moments, seriously.
The sex industry in Japan is a very confusing but active place. Some TV stars openly admit that they go to fuzokus, saying things like "
everyone does it..."
Delivery Heath:
デリバリーヘルス - Wikipedia
(english)
Delivery health - Wikipedia, the free encyclopedia
Fuzoku:
風俗店 - Wikipedia
Giant note: Delivery Health IS legal (if they insist there is no penetration, which they obviously lie about).