I am indeed seeing a counselor. I know my touch issues though. Nothing really new they can tell me I don't think. I grew up in an extremely physically abusive home. I like my bubble. However, that doesn't change the fact that my family in particular one daughter and my husband have touch as their primary love language. Basically, I need to initiate some sort of caring touch for them. Even if I am not entirely thrilled with it.
The goal would be for you to actually enjoy the touching, because if you don't then your family will know it. If you're forcing yourself to do it then it probably won't give good results. I'm not sure what a C could do, but I would hope they could give you the tools to disassociate touching from the bad experiences you had as a child because they really are unrelated. Discuss it with the C, let him or her know your goal is more frequent touching of your family members but that you're having trouble overcoming the negative stigma of it. I'm sure they can help you.