Forces result from interactions between two objects. Most interactions involve contact. If you hit the wall, the wall hits you back. The contact interaction between your hand and the wall results in a mutual push upon both objects. Bumper cars experience mutual forces acting between them due to contact during a collision.
Some forces can act from a distance without actual contact between the two interacting objects.
Gravity is one such force. On a free fall ride, there is a force of gravitational attraction between the Earth and your body even though the Earth and your body are not in contact. Friction results from the close interaction between two surfaces that are sliding across each other. When you slam on your brakes and your car skids to a stop with locked wheels, it is the force of friction that brings it to a stop. Friction resists the car's motion.