wrig·gle 
(rĭgəl)
(rĭgəl)v. wrig·gled, wrig·gling, wrig·gles
v.intr.
1. To turn or twist the body or a body part with writhing motions: The rabbit's nose wriggled.
2. To move or proceed with writhing motions: wriggle into a sleeping bag; wriggled out of his grasp.
v.tr.
1. To move with a wriggling motion: wriggle a toe.
2. To make (one's way, for example) by or as if by wriggling: He wriggled his way into her good graces.
n.
Phrasal Verb: A wriggling movement.
wriggle out of
To extricate oneself from (an undesirable situation or responsibility, for example) by sly or subtle means: wriggled out of a jam.
[Middle English wrigglen, perhaps from Middle Low German wriggeln; see wer-2 in the Appendix of Indo-European roots.]
wriggly adj.