You need to read the famous novel by Somerset Maugham - a British writer - titled "Theatre". In it, an actress has an affair with her son's friend. But she feels fine and confident, no guilt. It is a very interesting exploration of her feelings and attitudes, and is a well written piece - it puts a spell on the reader for the entire novel.

Oh, and you seem to be under the impression that yearning for physical touch is a sign of having low self esteem. This is not the case. Earning for physical touch is a sign of being a mammal - not even necessarily a human, but a mammal. Mammals who are social animals (not all are) thrive on touch.