蹭

The new shoes are so tight that they keep rubbing on my heels.

Put a soft pad under the saddle to avoid chafing the horse's back.

I scraped my knee painfully on the concrete floor.

graze one's hand

Mind the wet paint.

Pale carpets stain too easily.

stain one's clothes with mud all over

smear one's face with dirt

This guy always intends to scrounge some money off his parents.

I want to cadge a lift home from Tom after work.

He tried to mooch meals and drinks off me.

have a free meal; scrounge/sponge a meal; bum a meal off sb

He inched his way forward. / He dragged along.

Don't dillydally/dawdle; just get on with it.