The Dodger had a vicious propensity, too, of pulling the caps from the heads of small boys and tossing them down areas; while Charley Bates exhibited some very loose notions concerning the rights of property, by pilfering divers apples and onions from the stalls at the kennel sides, and thrusting them into pockets which were so surprisingly capacious, that they seemed to undermine his whole suit of clothes in every direction.
There are no more uses of "pilfer" in the book.
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She had been pilfering office supplies where she worked.
She sat on her living room couch, dressed in her rattiest C&C T-shirt and a pair of Calvin Klein boxer briefs she’d pilfered out of Sean’s top drawer.