SIch includes the touching. The answer is only yes.

I presume you wouldn't want that statement taken too literally. Consider a non-contact ammeter. If I'm able to measure the current, I have reached the wire, without ever touching it.

So more generally, SIch involves getting a body part, implement, etc. close enough to able to do whatever the purpose of SIch was, if there was a purpose.

SIch might not involve purpose, but a result that can occur from getting close enough. 'ul SIrgh veH SIch turmIqlIj pep'en 'e' yIchaw'Qo'! Don't whizz on the electric fence!