Does he want to have sex or he was just joking around?

we don't normally grope and fondle a woman that we aren't interested in. He is probably just waiting for you to give him some sort of positive affirmation that he may proceed. If you are truly interested in taking the relationship forward, shock him and plant a kiss on him next time he does it. Or even more blunt.grab him back. Tell him to stop teasing and get on with asking already. He has the courage to flirt.but flirting is easy. What he might not have is the courage to try and create a real relationship out of it. Don't play headgames with him.let him know it is okay and that you are interested.

Next time he grabs your waist,press yourself backwards agiainst him and give him a little grind. Trust me, he will start to get the point. Good luck.

I never touch people I am not willing to have sex with. My guess is that he is trying to figure out if you are willing to pursue this. He might not have the courage to say so if you ask him but I would strongly suspect a sexual interest.

My guess is he wants you. If you want him back, grab him too and see what happens.

maybe that's his way of showing he likes you.