Escorting and kissing the Sefer Torah when it is returned back to the Aron:[1]

Standing:[2] It is an obligation upon everyone to stand while the Sefer Torah is being returned to the Aron. See Chapter 3 Halacha 5 for the full details of this matter!

Escorting-The congregation:[3] It is a Mitzvah for those people whom the Sefer Torah passes in front of, to escort it to the Heichal. [However, those people of which the Sefer Torah does not pass in front of, are not required to come forward and escort the Sefer Torah.[4] Furthermore, if there are a lot of people present, there is no need to push to escort it to the Heichal even if the Sefer Torah passes them, and a slight escort suffices.[5] Practically, due to this reason, the custom today is to only escort the Torah slightly and not walk with it until the Aron Kodesh.[6] Those who do not escort the Sefer Torah are to turn themselves towards it and stare at it while it makes its way to the Heichal.[7]]

Escorting-The Magbiah and Golel:[8] It is a Mitzvah for the person who did Hagbah and Gelila to escort the Sefer Torah to the Heichal. They are to escort the Sefer Torah until the Heichal, and then remain there until the Sefer Torah is returned to its place. [This, however, only applies if the Sefer Torah is being returned to the Aron immediately after Gelila, otherwise, only the person who is currently holding the Sefer Torah is required to escort it.[9]]

Kissing the Sefer Torah:[10] The custom is to bring children to kiss the Sefer Torah in order to educate them in Mitzvos. [The children’s hands and face are to be clean when they kiss the Sefer Torah, and they are not have mucus or saliva coming out of their orifices.[11] Likewise, the custom is for those people whom the Sefer Torah passes in front of, to kiss the Sefer Torah.[12] One is to endeavor to kiss it with his mouth rather than simply touch it with his hand and then kiss his hand.[13] One is to endeavor to kiss the actual Sefer Torah by pressing the Paroches to the parchment, as opposed to pulling the Paroches away from the parchment, and only end up kissing the cloth.[14] One who is able to, is to hug the Sefer Torah with both hands and then kiss it.[15] Some are accustomed to say the verse of “Yinashkeihu Menishikos Pihu” upon kissing it and the verse of “Yimino Tichabkeini” upon hugging it.[16] Despite the above said, some Poskim[17] defend those who are accustomed to touch the cloth with their hand and then kiss the hand, rather than actually kiss the Sefer Torah. Practically, if one is unable to kiss it with his mouth, then he is to do as above and touch it with his hand and then kiss it.[18]]

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[1] See Piskeiy Teshuvos 149:1

[2] Ketzos Hashulchan 25:13

[3] Rama 149:1; Hagahos Maimanis Tefilla 12

[4] Implication of Rama ibid; Siddur Yaavetz; P”M 149 A”A 3; Piskeiy Teshuvos 149:1

[5] Makor Chaim [of Chavos Yair] 149; Kaf Hachaim 134:10; Toras Chaim Sofer 134:3; Piskeiy Teshuvos 134:10

[6] See Ledavid Emes 26; Shaareiy Efraim 10:4; Kaf Hachaim 149:10; Piskeiy Teshuvos 149:1

[7] Piskeiy Teshuvos ibid

[8] Rama 149:1; Hagahos Maimanis Tefilla 12

[9] Ketzos Hashulchan 25 footnote 61

[10] Rama 149:1; Ketzos Hashulchan 25:1; Piskeiy Teshuvos 134:10; 149:2

[11] Siddur Yaavetz

[12] Siddur Yaavetz; Or Tsaddikim 69; Shaareiy Efraim 10:4; Kaf Hachaim 149:7 that so was custom of Arizal; Ketzos Hashulchan 25:12 footnote 47; Piskeiy Teshuvos 134:10

[13] Yesod Veshoresh Haavoda 8:8 “To simply touch the cloth and then kiss one’s hands is a Minhag Boros”; Ketzos Hashulchan 25:12 footnote 47; Piskeiy Teshuvos 134:10

[14] Minhagei Chazon Ish 5:7, brought in Piskeiy Teshuvos 149:2 footnote 11

[15] Siddur Yaavetz; Or Tsaddikim 69; Yesod Veshoresh Havoda 8:8 in name of Arizal; Shaareiy Efraim 10:4; Piskeiy Teshuvos ibid

[16] See Or Tsaddikim ibid; Shaareiy Efraim ibid; Kaf Hachaim ibid

[17] Kitzur Shelah defends the practice, as it nevertheless appears that he is trying to kiss it, brought in Shaareiy Efraim ibid in Pischeiy Shearim; See also Siddur Tzelusa Deavraham that the Rav of Tzechnav did not allow people to kiss it due to spread of germs [see, however, Halichos Shlomo 12 footnote 18 in name of Rav SZ”A who negates this]; See also regarding a Mezuzah: Rama 285:2; Birkeiy Yosef Y.D. 285:4

[18] Shaareiy Efraim ibid; Piskeiy Teshuvos ibid