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He waved his hand as a gesture of welcome.

A movement of the body or limbs that conveys a message or greeting.
She made a kind gesture by helping him.
A nod can be a simple gesture of agreement.
They exchanged a friendly gesture during the meeting.
friendly gesture
welcoming gesture
simple gesture
sign
motion
signal
She made a kind gesture by helping him.

A movement of the body or limbs that expresses an idea or feeling.
He waved his hand as a friendly gesture.
The teacher gave a thumbs-up gesture to encourage the students.
She nodded her head in a gesture of agreement.
friendly gesture
kind gesture
hand gesture
sign
motion
signal