The Japanese word for to rub is
撫でる

なでる - naderu

to rub

Japanese Definition

擦る
1. v. (from 720) rub, scrub
2. v. strike a match
3. v. lose at gambling
4. v. (from circa2, 1252-1267, short=1) to graze, to touch lightly
5. v. to take a cut (of profits, etc.), to exploit, to extort
6. v. to rub
目をこする - to rub one's eyes
7. v. to scrub, to scour
8. v. to scrape, to scratch
9. v. Usage: (ja-uk)
10. v. to smear, to rub on to (something), to spread over (something)
(synonyms, ja, 塗る, tr1=nuru)
11. v. to lay blame on (someone), to attribute responsibility to (someone)