rub [transitive, intransitive] to press two surfaces against each other and move them backwards and forwards; to be pressed together and move in this way
rub something She rubbed her hands in delight.
In some cultures, people traditionally greet each other by rubbing noses.
rub something together She rubbed her hands together in effort to warm them.
He made a fire by rubbing sticks together.
rub together It sounded like two pieces of wood rubbing together.
Some people wash clothes by hand as shown in the picture.
Can we say "I rub clothes with washing powder to wash them"?