grope

Short definition from Wiktionary

Verb

1. 1
   To feel with or use the hands; to handle.
2. 2
   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.
3. 3
   To touch (another person) closely and (especially) sexually.
4. 4
   To intentionally and inappropriately touch or rub against another person, in such a manner as to make the contact appear accidental, for the purpose of one's sexual gratification.
5. 5
   To examine; to test; to sound.

Noun

1. 1
   An act of groping, especially sexually.
2. 2
   An iron fitting of a medieval cart wheel.