I think that if it's talked about and if permission is asked first and the answer respected then it's good therapy. If it is a surprise and not expected and the person is not comfortable with touch that's not ok.

Sometimes when I'm really upset I wish my T would ask if I would like her to hold my hand while I try and talk or am crying or something like that. But I would always want her to ask first. Touch can be very comforting for some of my parts but scary for others. Permission is the first and primary.

Just my thots