What is the name for the medieval ceremony of swearing loyalty with hands clasped?

The story behind the answer

In the classic feudal ceremony, a vassal knelt and placed his clasped hands within the lord’s, declaring himself the lord’s “man” (from Latin homo). That handclasp symbolized personal submission and service in exchange for protection and land, making it the defining act of entry into vassalage.

Don’t confuse it with fealty, the sworn oath of fidelity that usually followed, often on a Bible or relic. Investiture was the formal bestowal of the fief, signaled by tokens like a charter or a clod of earth. Commendation was an earlier Carolingian practice of protection ties that helped shape later feudal rituals.