وَيَسْتَلِمُ الْحَجَرَ كُلَّمَا مَرَّ بِهِ إِنِ اسْتَطَاعَ، وَيَخْتِمُ الطَّوَافَ بِالِاسْتِلَامِ.
Translation: Whenever he passes the Stone he touches it if able, and he concludes tawaf with istilam.
Kullamā indicates repetition, while in istaṭāʿa makes physical touching conditional on ability. The text includes istilam on passing and at the close of tawaf.
Contact on every pass is not an indispensable condition for a valid circuit. The earlier prohibition on causing harm remains relevant.