pencu -pec-pe'u- gismu

x1 (agent) touches x2 with x3 [a locus on x1 or an instrument] at x4 [a locus on x2].

See also ganse, darxi, jgari, penmi, jorne, satre, mosra, zgana.

In notes:

darxi
x1 hits/strikes/[beats] x2 with instrument [or body-part] x3 at locus x4.
ganse
x1 [observer] senses/detects/notices stimulus x2 (object/nu) by means x3 under conditions x4.
jgari
x1 grasps/holds/clutches/seizes/grips/[hugs] x2 with x3 (part of x1) at locus x4 (part of x2).
jorne
x1 is joined to/connects to/is united with x2 at common locus x3; x1 and x2 are a union.
mosra
x1 is friction [force opposing motion] due to contact/rubbing between x2 and x3; (fe) x2 rubs x3.
penmi
x1 meets/encounters x2 at/in location x3.
satre
x1 (agent) strokes/rubs/pets x2 with x3.
zgana
x1 observes/[notices]/watches/beholds x2 using senses/means x3 under conditions x4.
mlisa'e
s1 (agent) pets/gently strokes s2 with s3.
pecyvidni
v1 is a touchscreen serving function v2.
tacpe'u
x1=p1 (agent) touches eir tongue to/licks x2=p2=t2 at x3=p4 [a locus on x2].
tegzga
z1 palpates/touch-feels texture z2=t1 using senses/means z3 under conditions z4.
palpi
x1 palpates/palps/touch-feels x2 (surface structure)