Rub-up-against Definition

verb

To touch something with one's body.

She accidentally rubbed up against the painted door and got green paint on her blouse.
Wiktionary

To touch another person with one's body in a sexually stimulating manner.

Wiktionary

Of pets. To touch a person's body in a friendly manner, seeking attention.

Tibbles, the cat, rubbed up against my leg, asking for a piece of my cheese.
Wiktionary