Pretend face painting is a great stimulation activity to do with you infant. You can use a very soft small dry paint brush or even just your finger to "paint" on his face, hands, and feet. The touch will feel wonderful to your baby.
Feel free to incorporate language such as "This is your nose," "This is your hand," "This is your big toe." Or to really emphasize the touch (and tactical sensation) don't say anything at all.