Question about Ike and Em

I’m confused about the situation that was discussed and the touching. Did she actually touch him without him wanting to be touched? Because he said it with Dr. Pia and then last episode she seemed to admit to the ladies in the bathroom but used the situation in Mexico on the bus as an excuse as to why she did. I’m confused and nobody here seems to talk about it. I know everybody hate Ike because…(option 34 of 100) but I’m curious to know what yall took away from that.