In a mathematical sense…
What you are describing is when things get asymptomatically closer. Like, you cut the distance between them by half every second, they never actually touch.
When you put your foot down, they get closer in a linear way. Like, they get a centimeter closer every second. Eventually, they crash together and touch.
In a chemistry sense…
The electrons in your atoms repulse the electrons in the thing you are touching, so you really never completely touch something unless it chemically combines together.
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