Welcome to Gaia! ::

I think it could be Legend. Sometimes when our guides feel like we can handle an obstacle, they will just look at us as if to say "Well...you can get through this, what are you going to do?" Sometimes our guides are there simply for comfort, so that we know that they are still looking out for us.

I've received what felt like back/shoulder rubs before, felt fur brush up against bare skin (one of my guides appears as a wolf). Those are neat. I don't know if there is an actual definition or not, as it can be very personalized depending on the strength of the connection and our skill level. For me though it isn't quite like pins and needles. If it isn't a recognizable feeling, like fur, localized warmth, or hands, it is more like someone lightly teasing fine hairs, or a very slight electrical sensation (if anyone has ever had electrotherapy for muscular problems, the sensation is similar, but lighter than that).

If they are not spirit guides, then they may be general spirits. Guides are a bit more helpful and try to take on forms that best represent them and are respectful to us. They also stand behind our shoulders just outside of our area of sight and their touch comes from the side and back, more so than the front (at least from my experience). General spirits that happen to be around take on forms more suited for their needs, and tend to be the ones that hang around the shadows, our periferal (sp) vision, and they also tend to be the ones more likely to startle us. But still chat to them, it helps to strengthen connections and improve their chances of being seen by you.
Unfortunately, I'm always being called crazy, and it isn't because I talk to my guides in front of people. But if anyone does ask, I have a couple of responces
"I'm just thinking out loud",
"I was testing to see if there was anyone actually listening to me,"