This book offers a philosophical account of human touch, one informed and constrained by empirical work on touch. It begins by arguing that human touch, despite its functional diversity, is a single, unified sensory modality. From there, it describes and argues for a novel, unifying role for exploratory action in touch. Later chapters fill in the details of this unified, exploratory form of perception, offering philosophical accounts of tool use and distal touch, the representational structure of tangible properties, the spatial content of touch, and the role of pleasure in tactual experience. The resulting account has significant implications for our general understanding of perception and perceptual experience.