[christianhomeschoolmommaof3]

Are you saying that no one ever touched Jesus? He was after all God.

Why could someone touch Jesus but not where Jesus had been? That doesn’t make sense.

They died when they touched the Ark of the Covenant because God told them NOT to touch it. They were to carry it with poles.

There are types and shadow of lots of things in the OT. That does not mean that things happen exactly the same.

[AnAmericanMother]

Not in a sexual sense. The sexual act (because of our fallen nature) is so compassed about with sin and temptation. It is better to remain chaste, so said St. Paul, and certainly in this situation Joseph as a righteous man would remain chaste rather than approach the Theotokos - the God-Bearer - in a sexual way.

No need to bring the sin of Adam into this - in fact the Virgin Mary is often contrasted with Eve - the second Eve, who did not fall and brought forth salvation.