Thirdly, one of the customs of honoring the idol was through kissing, as we also find in the Scripture: 'Yet I have left in Israel seven thousand, all the knees which have not bowed unto Baal, and every mouth which has not kissed him.' And it is said, 'Those who sacrifice to men kiss the calves.' So if that is the case, would all those who kiss the Torah scroll be considered idolaters? But it is not so, because it is only a form of honor to respect their Torah and not worship. Therefore, prostration before the Ark is also merely an act of honor and not worship.
Kissing as Worship - From Idolatry to Devotion
The Wars of God 2:21