@Lost_Space_Explorer5 it sounds like stimming's for you!
Though your psych will probably call it tactile stimulation or sensory grounding or something like that, because the word stimming is especially related to autism, which is probably why a lot of people don't know it...
But stimming can be useful for heaps of non-autistic people as well.
Most of my "planned" stims are purely for fun, though I'll occasionally use them to distract me from something distressing or add extra sensory input if I'm understimulated. I also sometimes just stim instinctively when I'm excited or upset, like flapping my hands.
A lot of my stim toys are sparkly, because I love shiny things. Honestly at this point I paint my nails sparkly and use them as a stim toy, it's great.
For touch related stuff, I'd suggest googling "tactile stims" and "tactile sensory toys"
For feeling safe, I'd recommend fluffy things like soft toys, warm things like heat packs, and weighted things like weighted blankets or vests.