If atoms never touch eachother.Does that mean I have never touch anything?

What we're defining as "touch" really changes at these scales.

Atoms are never in physical contact with each other, but the atoms that you are composed of are still bound together chemical and physical forces that make them behave as single units. Those molecules are further bound together into cells, which are them bound together into you.

Technically the atoms in you aren't touching the atoms that are in other things, but when you touch something the forces holding your atoms together and the forces holding that thing together are interacting, and that interaction is what we call touching.

So the unsatisfying answer is, "Yes, but no." In the literal, atomic-scale sense your atoms never touch any other atoms. However, that's not really what the Word "touch" means at human scale, so of course you touch things.