What is a word to refer to the act of a person grabbing onto, and almost manhandling, another person in a non-sexual and non-confrontational manner? For example, how Kirk is grabbing onto Spock? I was thinking of a word similar to grappling. I was also thinking of embrace, but I'm not thinking of so much contact that it would be considered a hug. I'm alright with a phrase if not a single word.
The two extremes would be a handshake and a hug. I am searching for an inbetweener.