A really terrific way to connect with other people, is to give and receive massages. Taking the time to give a neck and shoulder rub, or hand and arm massage, or foot massage is a wonderful experience. It's a beautiful way to connect with other people, and remind yourself that you are also part physical, in a human body, not just a mind full of thoughts or emotions.
Try it with your lover, spouse or partner! Or with a good friend or co-worker. Take a class in therapeutic massage, or various forms of healing such as Reiki or laying-on-of-hands.
If you feel like it's a problem to allow yourself to be touched, then work on discovering why you feel that way. Talk with a pastoral counselor or therapist.