I looked at the video and I would define it as groping. The taco bell joke was definitely in very poor taste.
https://www.rollingstone.com/music/m...l-joke-718402/
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The bishop who served as the emcee at Aretha Franklin‘s funeral apologized to Ariana Grande following accusations that he groped the singer onstage as well as likened the singer to a Taco Bell menu item.
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