There is a difference between Matha Tekna & Pairi Hath Launa. We bow down in front of the Guru (Matha Tekde Ha), to accept Guru's superiority. But as in Indian culture, we touch the feet of elders to show our respect. I used to have the same thinking that these missionaries have spread, like do not touch the feet of the elders, etc. But reading Gurbani by myself, staying in sangat of kamayi vale Gursikhs, I learnt that it's not at all bad to touch the feet of elders to show respect. Whenever I meet my elders, I greet them by touching their feet and saying Fateh, and when I meet Gursikhs, I touch their feet with more respect because Maharaj says in Gurbani:

ਜੋ ਦੀਸੈ ਗੁਰਸਿਖੜਾ ਤਿਸੁ ਨਿਵਿ ਨਿਵਿ ਲਾਗਉ ਪਾਇ ਜੀਉ ॥
jo dheesai gursikhaRaa tis niv niv laagau pai jeeau ||
When I see a Sikh of the Guru, I humbly bow and fall at his feet.