caress
To touch someone gently and lovingly to show care.
Caress means to touch someone or something gently and lovingly, usually with your hand. When you softly stroke a kitten's fur or a parent brushes their hand across a child's forehead, that's a caress. The touch is tender and affectionate, meant to show care or comfort.
The word always suggests gentleness and affection. You wouldn't caress something roughly or carelessly. When an author writes that a breeze caressed the character's face, the wind feels soft and pleasant, almost like a kind touch. When someone caresses an old photograph, they're handling it carefully because it holds precious memories.
You can also use caress as a noun: a gentle touch itself is called a caress. It's the kind of touch that says, without words, “I care about you” or “you're safe with me.”