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It hurts to rub my foot on here.

What I am trying to say is that 'It hurts as you rub your foot on some object.' not exactly to say 'rubbing your foot hurts.

Can I say this? It hurts rubbing my foot on it.

Please help me with this question.

Thank you...
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When I rub my foot on the sharp rocks, it hurts.
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AnonymousIt hurts to rub my foot on here.
These are OK:

It hurts [to / when I] rub my foot [here / on this / on that / on it].

Name the object(s) instead of using "this" if you wish.

It hurts [to / when I] rub my foot on ...

the leg of the chair.
this carpet.
these rocks.

CJ