Awaness to everything starts at simplicity. Place your hands on your thighs and sit down and get up several times. It is possible for you now to push off your thighs with your hands as you get up which might not come to you as a thought if the contact was not there. The same happens as we dance or grapple. The contact brings with it more awareness to those areas and through this you can lead without force and become more aware of other intentions in the movement. Pay close attention to where people place their hands and how they come into a movement like and embrace or a strike and you will learn to blend with their movement better.