grope

fe’l verb

1. 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.
2. To intentionally and inappropriately touch another person, in such a manner as to make the contact appear accidental, for the purpose of one's sexual gratification. That old man groped that girl on the train!
3. To feel with or use the hands; to handle.
4. 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.

ot noun

1. An act of groping, especially sexually. the old man tried to get a quick grope of the young lady on the train.
2. An iron fitting of a medieval cart wheel