Adult term: either to just be held, or held with clothed action, not penetration, not oral, boning, layered clothing action. Or an adult love without touching, "yin yangin. In love."
The word is not used today and has been replaced with a more sensible word, history is decades old. I do not want to associate it with it either, but, seriously folks. A cut was sometimes called a tear too.. "she birthed bloody torn cunt."