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1.
As in Playing footsie (under the table)

The act of flirting in which one secretly touches the feet or legs of another with one's own, as under a table.
Have you been playing footsie with me under the table during dinner?
by George April 22, 2004
 
2.
the act of kicking each other playfully under something that would usually hide it. usually it is given away by facil expressions such as laughing.
I would have gotten away with playing footsies with Tina, if she hadn't laughed and made everybody look.
by AndrewC1117 July 01, 2007
 
3.
While footsie can be used to flirt with someone, it is also a direct game. In this game the participants sit across from each other and tickle each other's feet with their toes. It is sometimes (rarely though) used along side {bondage}
She asked me to play footsie with her today.
by Galemir August 16, 2005