Get the impression, when you come in contact with (4)
I believe the answer is:
feel
'contact with' is the definition.
'feel' can be an answer for 'contact' (thesaurus). I am not sure about the 'with' bit.
I don't understand the rest of the clue.
Can you help me to learn more?
(Other definitions for feel that I've seen before include "Experience, perceive" , "Fondle" , "Have sensation of" , "Perceive, sense" , "Consider" .)