Abstract: The skin, our largest organ, mediates our sense of touch and is essential for fundamental tasks ranging from object recognition to social exchange. Yet of all our senses, touch remains one of the least understood at the developmental level. Light touch sensation begins with the activation of low-threshold mechanoreceptor (LTMR) endings in the skin and the propagation of their signals to the spinal cord and brainstem. To understand the molecular mechanisms of touch circuit formation, we defined the developmental steps of LTMRs and performed deep RNA sequencing to identify candidate transmembrane molecules that may regulate LTMR peripheral and central innervation. We discovered essential roles for γ-protocadherins and netrin-G1 signalings in LTMR synapse formation and peripheral innervation. Furthermore, our study shows that mechanosensory inputs into the spinal cord are important for the step-wise assembly of central mechanosensory circuitry.