Set in relief of skipper, having upset me first (6)
I believe the answer is:
emboss
'set in relief of skipper' is the definition.
The answer and definition can be both to do with contact as well as being verbs in their base form.
Perhaps there's a link between them I don't understand?
'having upset me first' is the wordplay.
'having' becomes 'boss' (I can't explain this - if you can you should give a lot more credence to this answer).
'upset' says the letters should be written in reverse.
'first' says to put letters next to each other.
'me' back-to-front is 'em'.
'boss' put after 'em' is 'EMBOSS'.
Can you help me to learn more?
(Other definitions for emboss that I've seen before include "Carve etc so as to raise from surface" , "printing style" , "Decorate with raised design (6)" , "Provide relief" , "opposite of grave" .)