Fetching details from the dictionary...

to tease; to make fun of; to poke fun at; to make a crack about; to chaff; to kid; to joke; to banter; to pull someone's leg
友人を軽く揶揄ってみんなで笑った。
We teased our friend lightly and everyone laughed.
冗談だったので彼女をからかうつもりは全くなかった。
I didn't intend to make fun of her.
子供たちが猫を揶揄って遊んでいた。
The children were playing by teasing the cat.