Grope
/ɡɹəʊp/
noun
An act of groping, especially sexually.
“the old man tried to get a quick grope of the young lady on the train.”
An iron fitting of a medieval cart wheel
verb
To feel with or use the hands; to handle.
To search or attempt to find something in the dark, or, as a blind person, by feeling; to move about hesitatingly, as in darkness or obscurity; to feel one's way, as with the hands, when one can not see.
To touch (another person) closely and (especially) sexually.
“We've been together two weeks, and have just been kissing and groping, but no sex yet.”
Synonyms: touch, fumble, glaum, root, caress, feel up, touch up