Finangle

To stroke, rub, or caress any part or limb of any one person. Also may be rubbing oneself.

To rub a sexual oriented area with the intent of creating a sexual atmosphere or seducing one person.

Finangling is the act of stroking or plucking at ones body parts. You can finangle someones dingleberries to give them and ass fro. You can also finangle ones' arm or leg during dry sex.