Etymology
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titillate (v.)

1610s, back-formation from titillation. Related: Titillated; titillating.

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Definitions of titillate

titillate (v.)
touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements;
Synonyms: tickle / vellicate
titillate (v.)
excite pleasurably or erotically;
From wordnet.princeton.edu