Giving a Hand to a Sister
Question
Is there a prohibition against giving a hand to my sister who had a Bat Mitzvah?
Answer
Greetings and Happy Hanukkah
Touching a sister out of affection is prohibited. Touching that is not out of affection is permitted. Therefore, giving a hand depends on the purpose: if it is to lift an object together and the like, it is permitted. If it is out of affection, it is prohibited.
Source
Rambam, Issurei Biah, Chapter 21, Halacha 6
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