Atoms in solids question?

I learnt at school facts about atoms in liquids, gases and solids, and that when atoms are in a solid they have very little space to move but when hot they vibrate. Does this mean that, for example, if I rested my arm on the table, I am touching millions of atoms ? (it may sound like a dumb question but i am interested). Also, when the solid vibrates, is it possible to see it (when vibrating harshly)?