I came across a term today which I thought was quite nice - skinship. In Japan and Korea, the term "skinship" is used to describe the intimacy, or closeness, between a mother and a child. Today, the word is generally used for bonding through physical contact, such as holding hands, hugging, or parents washing their child at a bath. The earliest citation of this word appears in Nihon Kokugo Daijiten in 1971. (from Wikipedia)
Of course this could be from bonding through other things like baby wearing, co-sleeping, or baby massage!