It means touching the breasts or penis or vagina.
Sexual contact is the touching or coming into contact with the penis, vagina or anus. This can be through touching yourself or someone else, or them touching you is considered sexual contact. While it technically refers to more than "touch" - e.g. it refers to contact as say a penis in contact with a vagina or anus, not so much as a finger touching a penis, etc.
Yes
Yes
Yes
Direct contact includes touching, biting, kissing, and sexual contact.
touching the breasts of a woman
Touching her breasts. Sucking her nipples. Licking her clitoris. Licking her vaginal area. Touching her clitoris with you fingers or tongue.
You don't. Do not be touching anyone's breast that does not want you to. And the fact that you are asking indicates that you are not old enough to be touching breasts.
No.
Touching or not touching her breasts will not affect her ability to get pregnant at all.
a bra is to help cover your breasts and to keep boys away from touching your breasts.