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Definitions by Ol'What'sHisName

Wooled him around

Wrestling with another being or animal, usually for enjoyment or expressing a form of love for the being you're wrestling.

Generally in the case of animals, it's done with an animal of large enough size that you are not hurting or scaring it, but rather for the enjoyment of being close / hugging it playfully / releasing it if it becomes upset or scared. Dogs are usually accepting of short bouts of said behavior, especially if you release it after no more than a few seconds, so it can "charge" back at you in a playful mood.
"I wanted to show Rover how much I loved him that I wooled him around earlier today".