Dandle

[PussyCat]

To move up and down on ones knee or in ones arms, in
affectionate play, as an infant.

[Tanya Shivari]

Move (a baby or young child) up and down in a playful or affectionate way.

[PussyCat]

To [fondle] ones own or [someone elses] [naughty parts].

[Sarah]

To [wave] ones feet around while lying prone [on ones] stomach. The opposite of [dangle].

[Oralee]

to hold a baby or child on your knee and move it up and down in a playful way