A free feel. An awkward or inappropriate touch that bears no consequence due to its innocent (and oftentimes ignorant) nature. A brush of the hand across the body's, ummm... shall we say... private zones.
When she passed me the baby to hold, I accidentally got a freel.
Dude, that was her friend's booty you were grabbing! And nobody's mad? Freel of the century, bro.
I was just going for his car keys when I got a total freel. We both acted like it didn't happen.