接する
せっする · sessuru · JLPT N2 · verb-suru
to associate with
接 (receive, touch) + する (do): to do the receiving-and-touching, i.e., to attend to or associate with someone.
接 means to connect or touch, and する means to do, so 接する is to make contact with a person. That contact covers both serving them and mixing with them.
接 — hand 扌 + concubine 妾 (phonetic)
接 is a semantic-phonetic compound. The hand radical 扌 carries the meaning of receiving or joining with the hand, while 妾 supplies the sound. From 'taking with the hand' it broadened to 'receive, meet, connect, join together'.