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The incident happened before one of Trump's appearances on MSNBC's "Morning Joe."
"Before I know what's happening, his hands are on my shoulders and his lips are on my cheek," Tur wrote of the encounter. "My eyes widen. My body freezes. My heart stops."
The next thing that crossed her mind, she wrote, is, "F-. I hope the cameras didn't see that. My bosses are never going to take me seriously."
Following a 2015 interview with Trump, Tur recalled in "Unbelievable: My Front-Row Seat to the Craziest Campaign in American History," the candidate told Tur, "You'll never be president!"
Tur recalled thinking to herself, "Neither will you."
The journalist visited more than 40 states as the "Trump correspondent" for NBC News and MSNBC, beginning on June 16, 2015, when Trump descended the escalator at Trump Tower to announce his candidacy.
Trump has publicly berated Tur for her critical coverage of him - calling her out by name from the podium at two campaign rallies, in one instance describing her as "Little Katy" - and has accused her of being a "third-rate reporter" and having "no access" to him or his campaign.
On Tuesday morning, following the release of Tur's book, Trump tweeted, "Fascinating to watch people writing books and major articles about me and yet they know nothing about me & have zero access. #FAKE NEWS!"