Her hip brushed the jamb when she came back through the door.

Susannah's hip brushed provocatively against his thigh with every step she took.

My hip brushed a door jamb.

Her hips brush him ever so slightly as she turns toward the trio he had dodged on his way in.

From time to time, her hip brushed against his.

His shoulder touched hers, his hip and thigh brushed hers.

Their hips brushed as they walked.

He shifted position to get the monitor in his sight, and their hips brushed.