dandle
/ˈdændl/
verb
- To move a baby or young child up and down in a playful, gentle way, usually on one's knee or in one's arms.
- Grandpa loved to dandle his granddaughter on his knee while singing a lullaby.
- She would dandle the toddler on her lap during story time.
- The babysitter gently dandled the crying infant until he fell asleep.