I love ask Lindsey sessions. As for the term, I know their is frotage. But I think this refers to rubbing against strangers in public and through clothes. But the term asked for refers to someone you know and isn't sexual, how about, kinto, short for kinetic touch. There is also, cuddle puddle. But I've only heard it in group settings. Maybe, purtime? Reminds me of poutine, or gravy on French fries. Yum.