A word for touching someone softly includes caress, stroke, pat, pet, brush, graze, and fondle, though some have different connotations. Caress is most common gentle, affectionate soft touch, as in she caressed his cheek, implying tender, loving touch. Stroke means to move hand gently over surface, as in he stroked her hair softly. Pat is light tap, as in patted his back gently. Brush means light touch in passing, as in her hand brushed his. Graze means to touch lightly in passing. Pet means to stroke affectionately. Cradle can imply soft holding. For more intimate but still soft touch, you could say fondle, though that can have sexual connotation, so use carefully. In general, caress, stroke, and pat are best words for soft touch. For example, she caressed his arm softly, he stroked her hand gently, they brushed hands. Other phrases include to touch tenderly, to touch gently, to touch lightly, or to touch affectionately. If you mean comforting touch, you could say soothe with touch. So best single words are caress for affectionate soft touch and stroke for gentle moving touch, both conveying tenderness and softness.
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