spar

noun

making the motions of attack and defense with the fists and arms

sparring
a stout rounded pole of wood or metal used to support rigging
any of various nonmetallic minerals (calcite or feldspar) that are light in color and transparent or translucent and cleavable

verb

fight verbally
“They were sparring all night”
box lightly
fight with spurs
“the gamecocks were sparring”
furnish with spars