Chafe often describes physical friction that causes discomfort, usually skin-related. Hiking for hours can cause your thighs to chafe.
Pro Tip 2/3
Seek relief
When something chafes, one instinctively tries to adjust or soothe the area. The collar chafed his neck, so he loosened it.
Pro Tip 3/3
Not always visible
Chafe can happen without leaving obvious marks, it's the sensation that's noteworthy. Though her shoes didn't chafe visibly, they were still uncomfortable.