As long as the person who died didn't die of any bad diseases that were or are contagious then you can safely touch a dead body without getting sick.
The people who work on dead bodies and embalms them wear gloves and sometimes masks especially if they know the person died of disease.
But if the person who died didn't have any diseases then touching the dead body should not make you sick.
I touched dead family members bodies when they were in the coffin at their funeral and I didn't get sick and I had no fear of touching the dead body.
It can seem scary to touch a dead body but they cannot harm you as they are dead and they can't even feel you touching them.
But it's a good way to say goodbye to a family member or friend by touching them.