Shikimari2
Ok so I just recently learned that nothing ever touches because our atoms repel then how do we feel.
Without getting too into details (which would no doubt be wrong, if I'm talking about any subject):
The components of atoms rarely touch each other because of electron repulsion, but that repulsion still creates a force. When we "touch" something - put our atoms close to something else - we feel the pressure of the electrons pushing back. The nerves in our skin can interpret that pressure and send a signal about it to the brain.
That's my random stab at it, I'm sure someone here's done neuroscience or microbiology.