Welcome to PC, vampire_girl, and just so you know, you are definitely not alone in this. I had the same problem most of my life. People touching me made my skin crawl, yet deep inside me (or not even so deep; just had to scratch the surface, really) I was lonely as hell and couldn't shake it. I just wanted to be loved, wanted to feel what that felt like, but always thought I was defective somehow.
In my 20s I caved. I just got so tired of it. I had physical contact with people - a lot of people, you might say - and I was addicted to it, but it was all meaningless. I'd never see them again. And I never got hugs or anything from my friends or the people I hung out with, and certainly not my family.
Now I give and receive hugs all the time. I'm in a very physically affectionate relationship with my partner. I still am surprised when people want to touch me; I still feel defective somehow. But it's slowly changing. It's not as bad as it used to be. I hope that some day I will be able to not have to question my partner silently when she says that she loves me, loves my body, etc., not always be wondering if it's all a lie and she's just telling me what I want to hear. I still freeze and get awkward when I'm giving and receiving hugs with people close to me. But it's kind of like receiving compliments with a thank you: I do it because I know I have to 'fake it til I make it' so that I really will be used to it one day.
I wish you all the best. I look forward to seeing you around the forums.