Wiktionary
cop a feel
vb. (context idiomatic intransitive English) To stealthily fondle someone in a sexual manner.
Usage examples of "cop a feel".
He'll go throuah life knowing that just about every guy in the class tried his damnedest to cop a feel of his wife.
I had wanted to cop a feel, that was all, not change my whole fucking life.
Her first absurd notion that he was trying to cop a feel collapsed when she realized that one squeak from her or the cat and they would be trapped at the mercy of Brisbane's men.
Not much seemed to rattle them, unless you tried to cop a feel without being invited.