Similar word to palpate:

abut, adjoin, be in contact, border, brush, butt on, caress, come together, communicate, contact, converge, dab, examine, feel, feel up, finger, fondle, frisk, glance, graze, grope, handle, hit, impinge upon, inspect, join, kiss, lay a finger on, lick, line, manipulate, march, massage, meet, neighbor, osculate, palm, partake, pat, paw, percuss, pet, probe, push, reach, rub, scrutinize, sip, smooth, strike, stroke, suck, sweep, tag, tap, taste, thumb, tickle, tip, toy, verge


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