I have the opposite need--to not be in physical contact with people. I don't mind touching animals, though. Touching people is stressful for me. I am an introverted hermit type of person, and prefer solitude, and not having physical contact with other humans, but will make myself do so when I feel the situation demands it.
I can understand that others feel differently, though. This is one of the complexities of Autism Spectrum disorders. There are so many different traits, and positions on the spectrum that we each have. This is why it was so difficult for doctors to recognize the existence of the condition for so long.
As for your own compulsion to touch others, perhaps it is a form of stimming for you. That's okay, though. As long as you are not doing any weird kind of touching, just normal stuff, you are way ahead of many of us on the spectrum, because a lot of us don't like to have too much physical contact with others. 
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If a man does not keep pace with his companions, perhaps it is because he hears a different drummer.
Let him step to the music which he hears, however measured, or far away.--Henry David Thoreau