Contact is impossible in this world as far as I know. While it may feel as though we are able to touch one another, as far as I know no atoms can ever come in contact with one another because of magnetic shenanigans due to their electron clouds. There will always exist an invisible barrier between us no matter how close we become. The only exception to this is our parents, we have been in contact with them due to the fact that we are them. The moment of conception was the only moment we will ever have made true contact with another human.