Have you ever gotten a massage?

I get a massage about once a month.
Highly recommend, especially if you can get insurance to pay for it.

Do you have memories of being physically close to someone on a regular basis? Please describe them to me.

Yes, but no, I am not going to do that.

Sort of obvious, but it feels like heat and pressure and traction.
That is what physical feeling actually feels like. That said, describing the physical feeling doesn't capture the psychoemotional component. Sometimes it felt like a dream and sometimes it felt like a nightmare, depending on the type of touch and the situation.

You might look for detailed descriptions in a novel of some kind. Or in erotica.
I don't have any recommendations, though.