Then he said, “Do you understand what I have done to you? You address me as ‘Teacher’ and ‘Master,’ and rightly so. That is what I am. So if I, the Master and Teacher, washed your feet, you must now wash each other’s feet. I’ve laid down a pattern for you. What I’ve done, you do. I’m only pointing out the obvious. A servant is not ranked above his master; an employee doesn’t give orders to the employer. If you understand what I’m telling you, act like it—and live a blessed life. John 13:14 MSG https://bible.com/bible/97/jhn.13.14.MSG
This act of love on the part of Jesus would be considered invasive and possibly a sexual perversion today. God loves you and has always been near you, seek Him while their is still time.