Are you asking what was the evolutionary pressure for holding hands, or what is the mechanism that causes holding hands to feel good?
For the evolutionary reason, we can only speculate, but it promotes physical closeness which as with a parent and a child, usually means protection and survival.
For the mechanism, that physical touch causes the release of oxytocin, also known as the “love hormone”. This elevates your mood and makes you feel bonded to the person you are with.
There is a quote I’ve always liked that is applicable here, (pasted from Goodreads)
There is a primal reassurance in being touched, in knowing that someone else, someone close to you, wants to be touching you. There is a bone-deep security that goes with the brush of a human hand, a silent, reflex-level affirmation that someone is near, that someone cares.
Jim Butcher, White Night (The Dresden Files, #9)
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