Touch is a touchy subject. I just got a text from someone who couldn’t understand why someone she touched was upset with her. I explained that for some it feels like an invasion of their personal space and you should always ask permission before touching someone new. I used to know someone who would be startled if you got near her and you could never touch her! Maybe she had been abused. I don’t know, but it doesn’t matter. I needed to respect the fact that she couldn’t stand to be touched.
But if you have an existing relationship and have already gotten permission, you can use touch to calm things down. A light touch on the hand or arm isn’t invasive and just says that you are there and paying attention. Or if the person is upset, you can ask permission to give them a hug. That alone can help resolve issues.
Touch can help or hurt, but you need to read the situation correctly.