In most cases, when one thing applies force to another, they are in contact. My fingers contact the keyboard as I apply force to it.
But in some cases, there are forces that act without actually touching. For example, the Earth exerts gravitational force on me even when I am not touching it. If I jump up off the Earth, or if I am in an airplane in the atmosphere, the Earth still exerts this force on me.
Another example of such a force is magnetism. Magnets can exert a force on other objects even without touching them.