Literal:
* The baby wriggled free from its mother's grasp.
* The worm wriggled through the dirt.
* The snake wriggled its way into the hole.
Figurative:
* She wriggled out of the uncomfortable situation by making a joke.
* He wriggled his way into a promotion by working extra hard.
* The politician wriggled out of answering the question directly.
Informal:
* I wriggled with embarrassment as she told the story.
* The kids were wriggling with excitement waiting for the movie to start.
You can also use "wriggle" as a noun, meaning a twisting or turning movement:
* The wriggle of the worm made the bird nervous.
* He gave the door a wriggle to see if it was unlocked.