Qenya
mapa-
verb. to grasp, seize, to grasp, seize, [ᴱQ.] take; to ravish, seize and carry off forcibly
má
noun. hand
There are more words but they are from Tolkien's earlier conceptional periods. Tolkien likely changed these words as he evolved the aesthetics and completeness of the languages. You may even find languages that Tolkien later rejected. Do not mix words from different time periods unless you are familiar with the phonetic developments.
Below: Tolkien's Late Period (1950–1973). These are from Tolkien's late conceptual period — his most settled forms of the languages. Prefer these over the earlier ones above when composing new text.
A verb in The Etymologies of the 1930s glossed “grasp, seize” derived from the root ᴹ√MAP “lay hold of with hand, seize” (Ety/MAP).
Conceptual Development: The Qenya Lexicon of the 1910s had ᴱQ. map- “seize, take” under the early root ᴱ√MAPA “seize” (QL/59). The verb form mapa “seize” also appeared in the contemporaneous Gnomish Lexicon, but there it was deleted (GL/55). The verb mapa or mapta was translated “ravish, seize and carry off forcibly” in the English-Qenya Dictionary of the 1920s (PE15/76), while map- “take” appeared in other Qenya Word-lists of the 1920s (PE16/133).
Neo-Quenya: For purposes of Neo-Quenya I would use this verb in its 1930s senses “grasp, seize”. For “take” I would use ᴹQ. tuvu-, and for “ravish” the elaborated verb form [ᴱQ.] amapta-.