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RadDrawer has gesture support that allows the user to reveal its full content either with a swiping gesture or by calling the show() method of the widget. To enable the gesture support, the SwipeToOpen property should be set to true.

<telerik:RadDrawer runat="server" ID="RadDrawer1" DrawerWidth="200" SwipeToOpen="true">
            <li data-role='drawer-item' class='k-state-selected'>
                <span class='k-item-text'>First Item</span>
            <li data-role='drawer-item'>
                <span class='k-item-text'>Second Item</span>
            <li data-role='drawer-separator'></li> 
            <li data-role='drawer-item'>
                <span class='k-item-text'>Third Item</span>
            <li data-role='drawer-item'>
                <span class='k-item-text'>Fourth Item</span>

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