Tactile sensation is the most prominent sense that directly interacts with the external world. The essential nature of touch significantly influences human cognitive and emotional development from the early period of life. This manuscript discussed the ontogenetic development of tactile sensation and its function. Previous research has highlighted the advanced nature of tactile development, especially how tactile perception begins during the fetal period, facilitating the fetus’ ability to interact with and respond to tactile stimuli. Physical contact between parents and infants plays a critical role in promoting not only immediate comfort, but also long-term socio-emotional and cognitive development. In addition, the manuscript discussed the neurophysiological underpinnings of affective touch, demonstrating how tactile interactions are integral to the regulation of homeostatic processes that contribute to health and emotional stability. Based on this background, research on the effects of affective touch in parent-infant interaction on infants’ object exploration and behavior toward strangers was presented. Finally, future directions for the development of tactile technology to support children’s mental health were discussed.