Are you talking to me UK? Yes I would mean groping, or any inappropriate sexual touching. If a child isn't aware that their genitals are places that shouldn't be touched (and to some extent why they shouldn't be touched) than they are vulnerable to abuse.

I think it's also about developing a trusting relationship with your kids. If they know they can come to you with delicate questions, than they are more likely to come to you if they are being abused.

My son will be well aware of what is penis is and how no one but mummy or daddy should be touching it.