Intimacy, being able to be with someone can be a precursor to physical intimacy. Finding someone you are comfortable hugging can be a really good step toward a relationship. Finding someone you can freely talk to is a wonderful development.
But before being comfortable with other people being comfortable with ourselves can be a good 1st step. Meditation and yoga help us get comfortable with ourselves and our body.
Being a friend to an old person can be an opening experience where giving becomes more important than receiving.
Does any of this hit a harmonic chord in you?