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愛撫
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To stroke or caress your partner with the intention of arousing them.
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もむ
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To grab someone with a full palm-and-fingers-open hand-motion for which there is no exact English equivalent. Usually used about grabbing boobs but not always sexual. If you grab a little kid’s plump cheeks, that’s also もむ。
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まさぐる
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To grope blindly inside something looking for something. Usually used about reaching around inside clothes looking for your partner’s naughty bits, but can be used in a non-sexy situation:groping inside your purse feeling for your lighter.
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いちゃつく
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More childish word. To be all over someone – not in a bad, hentai blind date way, but in a good, first-month-of-dating-make-your-friends-naseous way. To cuddle or do some PDA.
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KANJIDAMAGE