Do i feel if someone touches me while i am sleeping and i took a sleeping pill? to take sl

Only you can answer this question as no on knows how you personally react to sleeping pills and how deeply you fall asleep.

if you take sleeping pills every night, you have a problem. They should never be used regularly as you quickly become dependent. Talk to your doctor.
Re your question: it depends how many you take and how deeply you sleep. If you're worried this friend might interfere with your body when you're sleeping don't stay there (sleeping pills or not!)