손대지 마십시오 Is a common phrase as well.
Literally, 손대다 means to touch with one's hand. While it's often used in the same manner as 만지다, it is also used in a figurative sense. Its possible meanings include: to start (a work), to deal with, to lay a finger on (sexually or non-sexually), and to steal. 만지다 cannot mean any of them.
I suppose you are an army. So, go back to the Jungkook's line in DNA 걱정하지 마 which means 'do not worry.'
While creating sentences with the "do not" form, -지 마 is added to the root. For example- 먹다 (to eat) will conjugate into 먹지 마 meaning 'do not eat.'
While the verb 마시다 (to drink) will conjugate into 마시십시요 meaning please drink.