Dandle
/ˈdændl/
Definition 1 of 1
Pro Tip 1/3Affectionate Action
Use 'dandle' to describe a loving, playful interaction with a child. 
Grandpa loved to dandle the twins, always with a big smile.
Pro Tip 2/3Physical Movement
'Dandle' includes up and down or rocking motions, not just holding. 
She dandled the giggling toddler as they waited for the bus.
Pro Tip 3/3Not for Adults
'Dandle' is inappropriate when referring to adults; it's specific to babies or children. 
Incorrect: He dandled his friend in jest. Correct: He dandled his young nephew.