My therapist of three years recently put his hand on my forearm (my hands were covering my face if that seems like a weird place to touch someone) for the first time. He asked if it was okay first. This happened during a particularly intense moment in our session. It didn't muddy the waters at all. It felt incredibly powerful. I didn't instantly fall in love with him nor did it feel sexual at all. Nothing changed after that moment other than a deeper feeling of connection with him.