to subject the surface of (a thing or person) to pressure and friction, as in cleaning, smoothing, polishing, coating, massaging, or soothing: to rub a table top with wax polish; to rub the entire back area.
to move (something) back and forth or with a rotary motion, as against or along another surface: to rub the cloth over the glass pane.
to spread or apply (something) with pressure and friction over something else or a person: to rub lotion on her chapped hands.
to move (two things) with pressure and friction over or back and forth over each other (often followed by together): He rubbed his hands together.
to mark, polish, force, move, etc. (something) by pressure and friction (often followed by over, in, or into).