Early Quenya
map-
verb. to seize, take
mapa-
verb. to seize, take; to ravish, seize and carry off forcibly
aqa-
verb. to seize
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 Qenya Lexicon of the 1910s appearing as aqin “I seize in my hand” with past form anqe “seized”, both under the early root ᴱ√AQA “grasp, hold, etc.” (QL/31).