Both Uses

grapple
in
Immortal in Death
(Auto-generated)

For ten interesting seconds, they grappled, her hands sliding off his slick skin.†
Chpt 10
Then they were both bucking, plunging, her hands grappling for purchase, his hips thrusting harder.†
Chpt 10 *

Definitions:

(1) (grapple as in: grappled mentally)
to wrestle or struggle physically
(2) (grapple as in: grappled hand-to-hand)
to struggle mentally with a problem
(3) (grapple as in: grappling hooks)
a tool with claws or hooks which is used to catch or hold something; or pulling a rope attached to such a tool; or grabbing and holding
(4) (meaning too rare to warrant focus)
More rarely, grapple or grappling hook can be used as a noun to reference a tool (consisting of several hooks for grasping and holding) that is often thrown with a rope.