The capacity to notice bodily sensation and contact closely enough to distinguish what feels welcome, neutral, wanted, absent or too much.
Touch & body connection is the capacity to include physical experience in how you understand contact.
Touch is not one thing. The same gesture can feel affectionate, absent, exciting, obligatory, soothing or invasive depending on context, relationship, timing and your own state.
What does contact feel like from inside your body?
Sensory self-contact gives you access to details before they become a verdict. Touch discernment adds context: what is happening, what you want, what you do not want, and whether the contact changes as you respond.