Take comfort in what others have said about loneliness.
Human beings are social animals, and the tenor of our social life is one of the most important influences on our mental health. Without positive, durable relationships, both our minds and our bodies fall apart.
At least for humans, this most basic of acts is anything but basic. As the pioneering sex researcher Alfred Kinsey put it, the only universal in human sexuality is variability itself. Within the universe of intimacy and pleasure that sex affords, however, there's a lot of room for error.
Empathy is the experience of understanding another person's condition from their perspective. You place yourself in their shoes and feel what they are feeling. Empathy is known to increase prosocial (helping) behaviors.