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The term generally has a negative connotation in many societies, and the activity may be considered sexual assault  or otherwise unacceptable.
There was an incident in Australia in August when the host at a charity event offered his cheek to a female guest presenter for a peck, before turning his head and kissing her on the lips.
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While the term is not defined in the Japanese legal system, vernacular usage of the word describes acts that violate several laws.
Description: Look up grope in Wiktionary, the free dictionary.