Tickle.

Tickling is the act of touching a part of the body, so as to cause involuntary twitching movements or laughter. Such sensations can be pleasurable or exciting, but are sometimes considered highly unpleasant, particularly in the case of relentless heavy tickling. - taken from wikipedia
I just had a good laugh from tickling my little girl. She is so ticklish. But she enjoys being tickled and begs for more and more that I tire faster than she does. Tickling just before going to bed or just after waking up is a bonding moment of my girl with her dad. Dad would tickle her and my little girl would beg for more and more, until she cries. They say that tickling sensation is both pain and pleasure. Well, her reaction is one proof of this.

Dad also enjoys being tickled as much as his daughter does. When the light's been turned off and we are about to go to sleep, my husband would ask to be tickled. It makes me smile thinking about how he would cover his face with a pillow to muffle his laughters. More often than not, he would beg me to stop. And when I do, he would ask to be tickled again, until he begs me to stop while crying from too much laughter.

I am the most ticklish person in our family. But I hate being tickled. It is too much pleasurable for me that I kick and bite just so I could escape it. Pleasurable for me, but painful for them.

Well, that's pain and pleasure for me.