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Actually, in this week's past translation, we learn the word 抱く (だく). If you know the Japanese term for "hug pillow", you've already seen this word used in a complex noun. "Dakimakura" is just the continuous form of 抱く (抱き), plus the noun for pillow (まくら).

Lots of complex words are formed this way. For instance, 折り紙 (おりがみ) is literally "folded paper". (折る->折り) +紙