A hand connected to mine

"I swam through a dark channel into the tomb's chambers. Clouds of sediment obstructed all visibility, and despite the small space, it was shockingly easy to get lost and find yourself swimming in circles. A hand connected with mine, and we emerged into the second chamber"

Hi, I would like to know the meaning of "A hand connected with mine".

Does it mean "(in the dark water) someone's hand and my hand grabbed each other"?

Thank you again!