Fondle (verb)

1. Touch or stroke (something) with one's hands in a playful or affectionate way.
2. Touch or stroke (someone) in a sexual way, typically without their consent.

Origin:

Late 17th century: probably from obsolete fond "foolish" + -le.

Examples:

1. He fondled the puppy's ears.
2. She fondled the silk fabric.
3. He fondled her hair.
4. She fondled his chest.
5. He fondled her without her consent.