The autonomic nervous system plays a vital role in self-regulation and responding to environmental demands. Autonomic dynamics have been hypothesized to be involved in perceptual awareness and the physiological implementation of the first-person perspective. Based on this idea, we hypothesized that the autonomic activity measured from cardiac dynamics could differentiate between social touch and self-touch. In our study, we used a newly developed method to analyze the temporal dynamics of cardiac sympathetic and parasympathetic activities during an ecologically valid affective touch experiment. We revealed that different types of touch conditions—social-touch, self-touch, and a control object-touch—resulted in a decrease in sympathetic activity. This decrease was more pronounced during social touch, as compared to the other conditions. Following sympathetic decrease, we quantified an increase in parasympathetic activity specifically during social touch, further distinguishing it from self-touch. Importantly, by combining the sympathetic and parasympathetic indices, we successfully differentiated social touch from the other experimental conditions, indicating that social touch exhibited the most substantial changes in cardiac autonomic indices. These findings may have important clinical implications as they provide insights into the neurophysiology of touch, relevant for aberrant affective touch processing in specific psychiatric disorders and for the comprehension of nociceptive touch.