Yes, the guest on the Jerry Springer show do lay hands on each other and most people with a keen eye would realize that contact hits are made but the show itself is mostly theatrics. Most of the scenarios on the show are fabricated by the producers, so the fighting is real but the arguments are fake.

If you're interested in knowing more about the theatrics behind the show here's an article about a man who attempted to go on the show: I Tried to Lie My Way Onto 'The Jerry Springer Show'