to come into contact with; to touch (each other); to have a brush with
動物園で動物と触れ合った。
I interacted with animals at the zoo.
子供が自然と触れ合っている。
Children are coming into contact with nature.
地域の人々と触れ合うことで多くを学んだ。
I learned a lot by coming into contact with the local people.