I don't think there's a rule against touching but we don't do it because some girls get really creeped out if you touch them. If we need to guide them somewhere, we might touch them lightly on the arm or we put our hand behind their back but don't touch them. I tend to be kinda bad about it and lightly touch their arm to sort of grab them but I haven't had anyone freak out on me yet.
Then again we had some weird sisters who are gone now who freaked out about some weird things.