grope

To feel with or use the hands; to handle.

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.

a. 1812. Joseph Stevens Buckminster, sermon to grope about a little longer among the miseries and sensualities of a worldly life

In the hollow shades of the roof could be seen pale dangling arms of ivy which had crept through the joints of the tiles and were groping in vain for some support, their leaves being dwarfed and sickly for want of sunlight; [...]

To touch (another person) closely and (especially) sexually.

The parents found the couple kissing and groping.

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.

That old man groped that girl on the train!

To examine; to test; to sound.

Felix gropeth him, thinking to have a bribe.

An act of groping, especially sexually.

The old man tried to get a quick grope of the young lady on the train.

An iron fitting of a medieval cart wheel.

Gropes appear to be pieces of iron binding together the inner joint of the fitting, and grope-nails to have been used for fastening these to the wood.