Why my husband touched another women?

I been married for 10 years and I don't think he ever cheated,we went to a topless club with some new friends, they are very friendly people wanting us to play in there life style, we told them no we don't play, they are not very attractive. Well we were having fun and drinking then I looked down I saw her hand on my husbands leg and his on hers, I was very mad he said she was just pulling herself over in the booth and he sat his hand down not realizing. But she never moved her hand and he didn't move it for her, why would this happen should? Do you think he wanted her.
Why my husband touched another women?
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