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to hold in one's arms (e.g. a baby); to embrace; to hug
to have sex with; to make love to; to sleep with
to sit on (eggs); to brood
「抱く」 has another reading with different meanings.
母親は赤ちゃんを抱いていた。
The mother was holding the baby.
彼女は飼い猫を優しく腕に抱いて撫でた。
She gently held the cat.
母親が眠い子供を抱いて寝室で寝かしつけた。
The mother held her sleepy child and put them to bed in the bedroom.