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A close but still-platonic [friendship] that you share wif a nice gal, perhaps one whom you've known a [long time] but who now has a main squeeze of her own. It involves your holding and fondling the gal's hands for [extended] periods, and giving her long soothing foot-rubs, plus possibly having her soothingly place the soles of her feet against your chest or rub/scratch your back with her toes.
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