I know what you mean about the touching. My W wants the same thing - non-S touching. But when I do she alwasy says it is tickling. Or irritating. Then she jumps and I feel like she is repulsed by my touch.
As for the hand on the penis thing, just going for it is a mixed feeling for me. Sometimes when she initiates she just grabs it. Not alwasy the thing to do. As the HD in my R I still like a little foreplay.
Have fun running around this week.
There are 3 sides to every situation: yours, mine and the truth. Knowing the difference is the key.