Weird question...

Is anyone else so overly cautious about not doing something that could even be possibly seen in any way as inappropriate with your baby? For example, I love the idea of doing skin to skin but I haven’t because it doesn’t seem “appropriate”. The same goes with kissing on the mouth, taking baths together, etc.. I even feel weird cleaning and drying his penis during a diaper change. Am I being silly? I was molested multiple times as a child and I think that’s why I’m so aware of it. I don’t want to accidentally do anything to him that could be seen as bad or could hurt or confuse him.