I can't touch the ground when I'm mounted on my saddle, I have to unclip and move forward. You will get more comfortable the more you ride. This idea that you have to touch the ground comes from some unfounded fear of falling, when in reality, you can fall just as hard even if your feet touch the ground. Once you get it in your head that your bike is stable when you're moving (and you should be moving, it's a bike after all!), then you'll get over it.