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First of all, we need to know that "no" is a contraction of "em + o" and "na" is a contraction of "em + a". If the noun is masculine you must use "o". Example: o elefante. If the noun is feminine you must use "a". Example: a girafa. The preposition "em" is required by the verb "tocar" in most cases, like: I touch him = Eu toco nele. (em + ele). Nobody says "Eu toco ele". Buy the way, it is very difficult to know which verb requires which preposition. Even natives make confusion and sometimes make mistakes. I found this link of verbs and prepositions: https://www.normaculta.com.br/regencia-verbal/ I hope you enjoy. There are cases where the verb "tocar" does not require the preposition "em". Exemple: "Eu toco piano" means I play the piano, but "Eu toco no piano" means I'm touching the piano, in the object, in the mobile.
"They touch ON the elephant" means that two people are sitting on top of the elephant and touching each other. It's a quite unlikely, albeit perfectly logic sentence... Also in English there is an expression "to touch on (a topic)" meaning to briefly discuss or mention a topic.
A group of blind men heard that a strange animal, called an elephant, had been brought to the town, but none of them were aware of its shape and form. Out of curiosity, they said: "We must inspect and know it by touch, of which we are capable". So, they sought it out, and when they found it they groped about it. In the case of the first person, whose hand landed on the trunk, said "This being is like a thick snake". For another one whose hand reached its ear, it seemed like a kind of fan. As for another person, whose hand was upon its leg, said, the elephant is a pillar like a tree-trunk. The blind man who placed his hand upon its side said, "elephant is a wall". Another who felt its tail, described it as a rope. The last felt its tusk, stating the elephant is that which is hard, smooth and like a spear. And so these men of Indostan disputed loud and long, each in his own opinion exceeding stiff and strong, though each was partly in the right and all were in the wrong!