Moses went to the rock to get water for his people (sperm).
He tapped the rock (unaroused woman) with his staff (erection)
His people got water (he got laid)
He wants allowed 8nto the promised land (parenthood or family, love) because of his sin.
What sin he asks?
You tapped the rock (raped) as opposed to talking to it (seducing through courtship so she would want him)