godan verb (-su), transitive verb
make someone hold; let someone take hold of
Causative-like transitive verb: the subject causes or allows another person to grasp something, often the subject's hand. Common in contexts of guiding, comforting, or handing over an object.
母親は子どもに手を握らせた。
The mother let her child hold her hand.
彼は私にハンカチを握らせてくれた。
He made me hold the handkerchief (e.g., to wipe tears).