First of all, there was nothing rude about my prior response. Second, your comment that "even [you] know that" "[n]o one is supposed to touch or grab anyone in a workplace" -- aside from being wrong -- suggests you already knew the answer to the question you asked, so I have to wonder why you bothered posting here if you already knew the answer to the only question you asked. Third, I could think of half a dozen situations -- none of which are excluded by the scant facts you provided -- in which your manager's actions would not be inappropriate.
But you now better than anyone else, so I'll not waste anymore time on you.