Does closing the gaps in the rows require touching feet?

Question:
The questioner, your brother Abdullah from Riyadh, says in this question: My question is: I heard that in prayer, it is obligatory for the worshippers in the same row that the foot of each one of them touches the foot of the one praying next to him in the row. Has anything been reported regarding this, Your Eminence?

Answer:
Yes, it has been reported from the Prophet (peace and blessings be upon him) that he ordered the rows to be closed. He ordered the Companions to close the gaps in the rows and to fill the spaces. Some of the Companions would press their foot against their brother's foot so that no gap would remain, but without rubbing or causing harm. One should be close to him so that there is no gap. The Sunnah is for the row to be closed with no gaps; this is the Sunnah.
As for rubbing his brother's foot, that is not obligatory. The important thing is to fill the gap. Because some people cannot bear this rubbing, they cannot bear having their leg touched. So, one should be close to him without rubbing and without harm, but there should be no gap. Yes.

The presenter: May Allah reward you with good.