My dad is dying, mom is critical of how I cope

My dad was diagnosed with terminal cancer in December, and now currently has about a week to live. Throughout this entire journey, I’ve had many conversations with my father, I’d sit with him, keep him company, and spend as much time with him as I can. But about two months ago, my mom told me to lay down in my dads hospital bed with him, and cuddle. My father and I have never really been close, and the idea of laying there with him made me very uncomfortable. I wasn’t afraid that I was going to hurt him or anything, but physical touch has always made me very uncomfortable, especially with my family members. I tell my mother how I feel, and in return she tells me I’m selfish and that I only ever think about myself. I love my dad, and of course I want to be there with him, and to help him through this, but the way my mom has been trying to force me to do things that I’m uncomfortable with makes me want to take a step back. I’ve noticed that I’ve been spending less time with him in fear that she will try to get me to do what she wants. It’s a very traumatizing experience and I really need some advice.