Instructing others to move is fundamental for many populations, whether animal or cellular. In many instances, these commands are transmitted by contact, such that an instruction is relayed directly (e.g. by touch) from signaller to receiver: for cells, this can occur via receptor-ligand mediated interactions at their membranes, potentially at a distance if a cell extends long filopodia. Given that commands ranging from attractive to repelling can be transmitted over variable distances and between cells of the same (homotypic) or different (heterotypic) type, these mechanisms can clearly have a significant impact on the organisation of a tissue. In this paper, we extend a system of nonlocal partial differential equations (integrodifferential equations) to provide a general modelling framework to explore these processes, performing linear stability and numerical analyses to reveal its capacity to trigger the self-organisation of tissues. We demonstrate the potential of the framework via two illustrative applications: the contact-mediated dispersal of neural crest populations and the self-organisation of pigmentation patterns in zebrafish.