Whether it's romantic, platonic, sexual, etc. here are some ways to imagine your characters making physical contact with each other:
holding hands
hugging
kissing
cuddling
carrying
caressing
tickling
nudging
massaging
patting on the back
linking arms
shaking hands
high fiving
pinky swearing
playing footsie
playing with the other's hair
sitting on the other's lap
putting an arm around the other's shoulders/back
resting their head on the other's shoulder/chest
tapping the other to get their attention
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