To Grip

1. (transitive) To take hold of, particularly with the hand.
2. (transitive) To help or assist, particularly in an emotional sense.
3. (intransitive) To do something with another that makes you happy/gives you relief.
4. To trench; to drain.

(take hold of): clasp, grasp

(help or assist): aid, help out, lend a hand

(do something happy with another): hang out

(trench):