The unique physical embodiment of robots enables physical contact between machines and humans. Since interpersonal touch research has demonstrated that touch has several positive behavioral (e.g., reduced stress, better immune functioning) as well as evaluative consequences (e.g., better evaluation of the initiator of touch), the question arises whether touch from a humanoid robot, the body of which is somewhat similar to that of a human, can evoke similar effects. To answer this question, we conducted a between-subjects experiment in the laboratory with n = 48 students who encountered a humanoid robot (Softbank Robotics' NAO) that either did or did not touch their hand in a non-functional manner during a counseling conversation. The analyses of participants' behavior revealed that they mostly reacted by smiling and laughing. Furthermore, participants who were touched by the robot complied significantly more frequently with a request posed by the robot during conversation, and reported better feelings compared to those who were not touched. However, there were no effects of robot touch on subjective evaluations of the robot or on the interaction experience.