yoりかかるrikakaruyorikaかるkaru
1.

To support one's body weight by placing it against a surface or object, typically for relaxation or rest.

2.

To position oneself in a way that relies on something else for stability or support, often for comfort or ease.

3.

To rest one's body in a tilted or reclined posture, using an external structure to maintain balance or composure.

Example:

彼は手すりに寄りかかっていました。