What if a guy touch a girl's legs and started to move his hands right away?

There was a time, that I was wondering why this friend of mine touched my legs while we are watching tv in a coffee shop. Me and this guy is always arguing with each other and make fun of ourselves. And at that time, I was wearing a fit legging pants and I was sitting beside him. Then, suddenly, when I turn my head in the TV, I was surprised when I actually felt his hands on my leg and at first, his hand was not moving, but after a few seconds, it moved! I really don't know how to react. So I just remained myself in silence. Until now, I don't know why did he do that. And that's not just once. But as of now there are some instances that he did something to me accidentally.
Updates:
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But he is my friend anyway.
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What does this guy thinking?
What if a guy touch a girl's legs and started to move his hands right away?
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