Answer
Yes, while most of the atom is made of empty space, touching a solid item does not seem to agree with this. However, the force of repulsion between the atoms of the touching surface (ex. a finger) and the atoms of the solid prevents us from sticking our hand through the empty space.
Work Step by Step
The force of repulsion increases as you get closer, so the protons in our finger repel with protons in solid matter.
