So you want to reach out and touch someone ?
What happens if he or she is not in agreement with you ?
What if they are doing something about it other than not being there ?

Start with a partner sitting on his behind and you sitting an arm length from him. Have him place one arm in the air toward you stay still. raise your arm slowly to contact the arm and slide on the arm refraining from creating a contact spot your are moving around and seriously moving your arm and shoulder freely rotating your forearm, moving your elbow and shoulder ALL TOGETHER!. It will also eventually work if you avoid letting the breath lead the movement but it will take a few more lifetimes so make your decision about this.
When you ask why we are sitting on our behinds I answer to note how we can move without our legs and hips so we avoid compensating with one part over lack of awareness in another.
Continue with your partner raising his arm toward you and back and you maintaining contact but without resistance or leaning on him during all the movement.
Continue to add him rolling his body toward you while he extends toward you and you do the same work as your own body evades his all while maintaining contact and awareness to your own tension and the most important part of the key your breathing.
Now repeat the drill standing and replacing rolling with walking and running and adding a stick or other tool when you feel comfortable with it.
We are already afraid so there is no need to push toward it in training and learning. Learning to release fear is more fruitful then learning to coexist with it.