Wiktionary
vb. 1 To touch something with one's body. 2 To touch another person with one's body in a sexually stimulating manner. 3 Of pets. To touch a person's body in a friendly manner, seeking attention.
Usage examples of "rub up against".
Something about him made her want to rub up against him like a cat begging to be stroked.
But every day in the college you rub up against what's left of the Anglo Irish.
It picked its way over the ruined carpet to rub up against the boy’.
And the best way you can work is to get that food off this bed and take that blanket off and come rub up against me.
Lily watched the long fingernails crawl up his arm, the scantily clad body rub up against his as the couple slipped into the shadows.
I love to feel the sun rub up against my pale northern skin, love its fingers reaching down into muscle and bone.
Oh, why did I ever think you had one brain cell to rub up against another.
She wouldn't breathe a word about the scuzzy mongrel tryin' to rub up against her, and grabbin' her at the door of the hotel room.