We have confidence in the Lord concerning you, that you both do and will do the things we command.
While this sounds good, and is somewhat refreshing to the soul, I really think that what it meant is that Paul is saying "we have confidence in the Lord concerning you," the "touching you" is not about "touch" but more about "regarding you" or "concerning you". Paul is saying that "we have confidence concerning your relationship to the Lord, that you are doing, and will continue to do the things that we command."