Squeeze, grasp, grip
The word is clutch. Note that this is a verb and a noun at the same time.
grip hold
The word is "grip".
grip or cling
Grip
Grasp, clutch
One possibility is grab.
to take hold of in the arms tightly as a sign of affection
grip or grab
grab
grip
the word has a lot of meanings like grip, wait. hold up.