Can I mention that I am not going to take my bosses' arm?
I don't understand what you mean.  Why do you not want to take your boss's arm, as you say?
Because I can't relax when I take it.
It's good to listen to your boss, but if your boss is requesting physical contact that you feel is inappropriate then you should decline. It's not appropriate for your boss to ask you to touch him, and if he does you should be able to report him to HR. Asking an employee to touch him could be grounds for dismissal.
Oh my gosh, I just meant I'm just not a people person.
I'm just saying if you are not comfortable with touching him you don't have to worry about it so much. Just don't touch his arm and things will be so much easier for you.