rub up against
Advanced (C1)neutral
to touch or meet something closely, sometimes in an uncomfortable way
"In the crowded train, my bag kept rubbing up against other passengers."
Hear it in context

DHH: Future of Programming, AI, Ruby on Rails, Productivity & Parenting | Lex Fridman Podcast #474
Lex Fridman · 172:36
Yes, I think you rub up against another person,

Parks and Rec but Everyone Is a Physical Comedy Genius | Parks and Recreation
Parks and Recreation · 12:53
She lets me rub up against her legs sometimes.

dolphin brainz and it gets worse from there #science #dolphin #weirdfacts #brain
Sage the Bad Naturalist · 0:20
they were to like rub up against a pane of glass, they have this.

Mr. Gabagool Is Here | The Basement Yard #551
The Basement Yard · 58:44
So, I can accidentally rub up against my G-spot and I would go crazy.