fondling

(noun) affectionate play (or foreplay without contact with the genital organs). Synonyms: caressing, cuddling, hugging, kissing, necking, petting, smooching, snuggling.

(verb) touch or stroke lightly in a loving or endearing manner. Synonyms: caress, fondle. Examples: "He caressed her face." "They fondled in the back seat of the taxi."