Canoodle (verb)

To hug, kiss, or cuddle affectionately with someone, typically as a prelude to sexual activity.

Origin:

Early 20th century: probably from caressing noodle, later altered by association with spoon and cuddle.

Examples:

1. The couple was canoodling on the couch.
2. They spent the evening canoodling and watching a movie.
3. The teenagers were caught canoodling in the park.
4. The couple was seen canoodling at the restaurant.
5. They enjoyed canoodling in front of the fireplace.