There are probably a hundred or more sensations involved in your experience. Nerves transmit information to the brain, which then sends the various data to the relevant sections for processing; then each of those sections makes a decision about the correct action to take and transmit commands to the relevant organs.
When you detect - touch, palpate, feel - an object in proximity to your surface, you are collecting sensory data about its size, shape, temperature, texture, resilience, etc. When this data is transmitted to the brain, it is received as information only: no action required... (...unless some aspect of the object - for example, if it's hot - is flagged as a potential hazard, in which case, the body is given a standard warning, and you automatically withdraw.)
If the encounter of a body part with an object is sudden and violent, however, there is a whole different set of messages sent by damaged tissue. That's pain, and it requires immediate, fairly complex, reactions, so the orders start coming back from the brain: Get Away! from the harmful thing. Press, clutch or squeeze the damaged body part (This is an automatic response to minimize blood-loss). Yell, swear, squeal or make some loud noise (both as warning to any fellow tribesmen who might be danger and to call their attention to your predicament). Remove or expel the foreign object. Seek something cold (to numb pain and retard fever.) All that may take as long as five seconds. After that, you can think rationally again and understand the process of whatever decisions you make.