Objects interact when they push or pull on each other. Some interactions need the objects to touch and some do not. A contact force acts when the objects are touching. Friction is a contact force that acts between two surfaces and opposes their sliding past each other. The normal contact force is the push from a surface on an object resting on it, and it acts at right angles to the surface.
A non-contact force acts across a gap, with no touching at all. There are three you need to recall. Gravity is an attraction between masses, and it is the reason objects have weight. Magnetism acts between magnets, and between a magnet and a magnetic material such as iron. Electrostatic forces act between charged objects, which attract if the charges are different and repel if they are the same.
A book resting on a table shows two of these at once. Gravity pulls the book down, and the normal contact force from the table pushes it up.