In a sexual context, groping is the act of intentionally touching another person in a sexual manner, usually without their consent. The term generally has a negative connotation in many societies, and the activity may be considered sexual assault or otherwise unacceptable. Touching a consenting person's body during sexual activity, a massage, or a medical examination is not usually considered groping, though the term is sometimes used to include clumsy, selfish, or inappropriate sexual touching. Areas of the body most frequently groped include the buttocks, breasts, vulva, thigh, penis, and scrotum. Gropers might use their hands, but pressing any part of their body against another person can be considered groping.

Physical intimacy is sensuous proximity or touching. It is an act or reaction, such as an expression of feelings, between people. Examples of physical intimacy include being inside someone's personal space, holding hands, hugging, kissing, caressing and sexual activity. Physical intimacy can often convey the real meaning or intention of an interaction in a way that accompanying speech cannot do. Physical intimacy can be exchanged between any people but as it is often used to communicate positive and intimate feelings, it most often occurs in people who have a preexisting relationship, whether familial, platonic or romantic, with romantic relationships having increased physical intimacy. Several forms of romantic touch have been noted including holding hands, hugging, kissing, cuddling, as well as caressing and massaging. Physical affection is highly correlated with overall relationship and partner satisfaction.