The most simple partner pose is one most people have done already some time in their life. Sit with your legs straight in front of you and your feet against those of your partners. Get a strap and hold on with both hands, one person with their in the middle, one holding the two sides. Then one partner slowly lean back. Both partners try to keep your backs straight, the one leaning back feeling your abdominals engage. The partner that is leaning forward try to relax the backs of your legs. Both keep breathing! For some reason we hold our breath when things are challenging and I had lots of students holding their breath during this pose last night! Watch and listen to each other and stop when the person leaning forward is at the edge of where they can reach. Switch and let the other person lean back.
Partner poses help us go past our comfort zone and try a little harder then we do on our own. Some people may hesitate because touch itself might be out of their comfort zone, but partner poses can be like the one I described above and really not require much touch or "invasion" of space.