He didn't grope her, he "rubbed his face in her chest". As far as I can remember, when you're a little kid, when you hug a woman, her chest was a comfortable place for your head! When I used to cuddle up to my mum as a little kid, I'd rest my head on her bosom, and call it a pillow (Which was quite funny to think back to when that Cornershop song came out a few years later!).
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