dandle
verb (used with object)
to move (a baby, child, etc.) lightly up and down, as on one's knee or in one's arms.
Used to describe actions that started in the past and continue into or have direct relevance to the present.
Examples are provided to illustrate real-world usage of words in context. Any opinions expressed do not reflect the views of Dictionary.com.
He has dandled me on his knee when I was a baby.
From The Genius by Margaret Horton Potter