There are situations in which a character must control involuntary responses, especially if Dick is a spy, a cop, or pretending to be someone he isn’t. If faced with an angry mugger or screaming toddler, Dick's initial primordial response might be recoil. His body might tense to strike. If it is a mugger, he lets the punch fly, unless the mugger is holding a gun pointed at his head. If it is a toddler, Dick overrides the urge to strike and deals with it another way, unless he has poor self-control or the child is demon-possessed.
Some characters are touchy-feely types. An extrovert is more likely to be a hands-on kind of guy. An introvert hates being touched by people he doesn't know very well. A character who has been abused may not want anyone to touch him, no matter the reason, loving or otherwise.
Some families and cultures are big on physical displays of affection, others aren't. A character might hug every one he has ever met upon seeing them again. Others prefer a handshake or a bow. The reasons can be personality, culture, or life experience.
Make sure you tell the reader how the character feels about being touched. Is it a good thing or a bad thing?
What kind of caress, hug, or handshake was it?
Is Jane’s instinctive response to pull away when she knows she has to endure the hug?
These small conflicts illustrate character, reveal relationships, and make characters very uncomfortable at scene level.
Touch ignites an involuntary response, followed by a voluntary response, followed by a recovery. Illustrate the beats during critical encounters. The how and why are important. Was the touch appropriate or inappropriate? Tolerated or defended? Welcome or unwelcome?