Here is an extract from the World Health Org site.
"It is not certain how long the virus that causes COVID-19 survives on surfaces, but it seems to behave like other coronaviruses. Studies suggest that coronaviruses (including preliminary information on the COVID-19 virus) may persist on surfaces for a few hours or up to several days. This may vary under different conditions (e.g. type of surface, temperature or humidity of the environment).
If you think a surface may be infected, clean it with simple disinfectant to kill the virus and protect yourself and others. Clean your hands with an alcohol-based hand rub or wash them with soap and water. Avoid touching your eyes, mouth, or nose."
The inference is that touching a contaminated surface carries minimum risk, however if you then touch receptive areas on your face this gives the virus the opportunity to enter the body and cause an infection.
The strange thing about any virus is that it is not, apparently, classified as a living organism as it doesn't consume any form of food and can not reproduce on its own. To reproduce it needs to hijack a compatible living cell by injecting its DNA into it. This DNA then takes over the cell function and forces it to just make copies of the virus. Once the cell can no longer function it then ruptures releasing a vast number of replica viruses, think of the scene from Alien but on an epic scale.
From then on it's up to your immune system to identify the virus and attempt to eradicate it, if it fails then you just become another statistic on the news. The good news is that if you survive the infection the immune system remembers the viral fingerprint and is ready to attack the same virus, the bad news is that virus's of this family can and do change their signatures leaving the immune system in the dark when they infect again. The common cold and flu are typical examples and this is why it is virtually impossible to make an effective vaccine for them.
Cheers
Martin