Let K, L ⊂ En be non-empty, closed, convex sets, K bounded, and suppose boundary sets αof K and ß of L are painted. If K undergoes a random motion such that K and L touch, the probability for a paint-to-paint contact is expressed by curvature measures of K and L. This generalizes and simplifies previous work of Molter (1986) on infinite cylinders L touching a convex body K.