vt
(=rub against)
[+skin, thigh, hand, groin] frotter contre
(=rub so as to warm) frotter
→ Kate pulled the blankets over the girl and chafed her hands.
vi (fig)
(=be annoyed)
to chafe against se rebiffer contre
→ Netanyahu, who chafed against the constraints
to chafe at sth
(=restriction, compulsion) s'irriter de qch
→ ... the business community chafes at having to pay fees to middlemen.