to come into bodily contact with (something) so as to perceive a slight pressure on the skin
RELATED WORDS:
caress, embrace, finger, fondle, hug, kiss, lip, nose, nudge, nuzzle, paw, rub, stroke; palp, palpate; brush, graze, shave, skim; clasp, clench, cling (to), clutch, grasp, grip, handle, hold, palm; chuck, clap, dab, flick, pat, tag, tap, tip; hit, knock, pound, rap, whack