Try this: put your hand on some part of your body so it is touching the skin, then notice what your hand actually feels. If you can feel the texture of your shirt or jeans, then you can feel the texture of your skin.

Then switch to noticing what the body feels from the hand. There should at least be some sense of pressure. Try switching back and forth between these two perspectives — you may not feel a lot, but with practice you should be able to get some sense of basic texture and pressure.