To Grope

1. (obsolete) To feel with or use the hands; to handle.
2. 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.
3. To touch (another person) closely and (especially) sexually.
4. To intentionally and inappropriately touch another person, in such a manner as to make the contact appear accidental, for the purpose of one's sexual gratification.
5. (obsolete) To examine; to test; to sound.

(to feel with the hands): touch; feel

(to search by feel): fumble, glaum, root; feel around

(to touch sexually): caress, feel up, touch up; fondle