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If it is a stock grip buy a new one, they only cost about 8 bux. Get some grip glue and follow the directions. Mine came loose and I tried to re-glue the old grip and it did not work. Bought a new grip and all is good now...
Just thought i'd throw this out there, I've got the same problem on my 2012 Electra Glide Classic. No real big deal though, since i'm looking to replace them anyhow.