acariciar — caress

agarrar — grab

aplaudir — clap

estripar — squeeze

frotar — rub

oprimir — press (like a button) or squeeze (like a strong handshake)

palmear — pat (like on the back)

pellizcar — pinch (like to hurt someone or to pinch yourself to make sure you’re not dreaming)

prensar — press

presionar — apply pressure to

rascar — scratch

sobar — rub

tocar — touch

torcer — twist

tocar musica — play music

tronar los dedos — snap your fingers

signo de paz — peace sign

saludar — greet

tocar a la puerta  — knock the door