A reciprocating-rod seal (10) comprising a one-piece rigid support (20) and a one-piece elastomeric body (30) bonded to the rigid support (20). A notch (40) separates an ID fluidside portion (41) of the elastomeric body (30) from an OD fluidside portion (42) of the elastomeric body (30), and the ID fluidside portion (41) forms a sealing lip (43). A groove (50) separates an ID airside portion (51) of the elastomeric body (30) from an OD airside portion (52) of the elastomeric body (30), and the ID airside portion (51) forms a wiping lip (53). The sealing lip (43) prevents fluid escape during forward and return strokes of a reciprocating rod, and the wiping lip (53) removes dirt, dust, or other debris from the rod during return strokes. The seal (10) can serve as the primary seal for a mudpump pony rod and/or a mudpump plunger rod.