The way that you move on stage plays a key part in mime, dance and Physical theatre. It can also express a character's feelings, age and gender. Wearing period costume affects movement too.
One of the things that can prove an obstacle for a novice actor is the business of touching another performer. This might be a romantic embrace but it's not just that which makes people feel embarrassed. Onstage, it feels as though you have invaded the other actor’s personal space! But if you can overcome the anxiety about making contact, whether it’s a hand on a shoulder, a hug or seizing someone’s hand in an enthusiastic greeting, it will add conviction to your performance.
If your character would have touched the other person at that point in the action, then you as a performer should do so. Be careful however not to get in another actor's way. This should be avoided by blocking your scenes before the performance so each actor knows where they should stand.