Socio-affective touch communication conveys a vast amount of information about emotions and intentions in social contexts. In spite of the complexity of the socio-affective touch expressions we use daily, previous studies addressed only a few aspects of social touch mainly focusing on hedonics, such as stroking, leaving a wide range of social touch behaviour unexplored. To overcome this limit, we present the Socio-Affective Touch Expression Database (SATED), which includes a large range of dynamic interpersonal socio-affective touch events varying in valence and arousal. The original database contained 26 different social touch expressions each performed by three actor pairs. To validate each touch expression, we conducted two behavioural experiments investigating perceived naturalness and affective values. Based on the rated naturalness and valence, 13 socio-affective touch expressions along with 12 corresponding non-social touch events were selected as a complete set, achieving 75 video clips in total. Moreover, we quantified motion energy for each touch expression to investigate its intrinsic correlations with perceived affective values and its similarity among actor- and action-pairs. As a result, the touch expression database is not only systematically defined and well-controlled, but also spontaneous and natural, while eliciting clear affective responses. This database will allow a fine-grained investigation of complex interpersonal socio-affective touch in the realm of social psychology and neuroscience along with potential application areas in affective computing and neighbouring fields.