You must have experienced this as well: your cat likes to touch you. Your cat might stretch out their foreleg to touch your hand. Or, alternatively, your cat might simply touch your hand with their paw. In this instance the man has offered the palm of his hand and his contented and relaxed cat placed his 'hand' into the hand of his owner. I described the cat's paw as a hand which is not strictly correct (!) but for the sake of argument I have chosen that description. The point to make though is that it is very typical of domestic cats to do this sort of thing. They really like contact. My cat will make direct contact paw-to-hand all the time. He takes pleasure in it and I'm sure that it reassures him. Reassuring our cat is something we should always try and achieve because anxiety is not far from the surface for the domestic cat. They are very sensitive to things that happen around them. And they live in the human home where the other sentient beings are much larger than them and occasionally there are visitors who might, simply by their presence, unnerve the resident domestic cat. These are all well-known situations. I won't go over them. Let's just say that when a cat touches your hand with his/her paw enjoy it because it is a reassurance to your cat and a way to strengthen the bond between cat and human companion.