titillate

To stimulate by touching lightly; tickle.

To excite (another) pleasurably, superficially or erotically.

To excite another, especially in a superficial, pleasurable manner.

To tickle; excite a tickling or tingling sensation in; hence, to excite pleasurably; exhilarate; elate.

To tickle.

To stimulate or excite pleasantly

touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements

excite pleasurably or erotically