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Argh, why does it have to be so difficult? I'm a pretty laid back guy by default and not the touchy feely type, seems "being myself" is a recipe for failure.
It's not about being yourself, it's about IMPROVING yourself.
Did you even know that touching when communicating is a major factor in many life aspects? Sales, marketing, pick up, business, anything.
Start practicing touch and you'll start having some kind of intuition on when to do it, you'll just get the feeling that you'll have to touch the person.
I'll demonstrate with a small example: Telling someone "listen" without any verbal contact would just make the person either look at you and not focus with what you are saying or tell you that he doesn't have the time and that he has to run. However, when you tell that same person "listen" while maintaining eye contact and putting your hand on his shoulder softly, he'd be more willing to focus on what you are saying.
That's just one small example and it's 100% field tested and true. From the moment I started to become the type of guy who touches when talking, I started getting tons of positive responses.
Give it a try, you won't lose anything. You'll have to use such things for the rest of your life.