I just spent way, way too long translating the article, and while it does not go into any detail about how the ram-groping is done, my dictionary avers that þukla means "to feel" or even "to finger."

So, yeah. Groping.

There doesn't seem to be any information in the original article that wasn't in the (somewhat expanded) translation, unless it is conveyed by í kramið, which I cannot parse at all. (Or, I can't make out kramið as anything but the perfect participle of kremja, "to crush," which doesn't make any sense in context.)