'Teen Mom' Amber Lays A Hand on Baby Daddy

Moments after a judge lifted the ex-couple's no-contact order -- "Teen Mom " Amber Port wood once again

got extremely physical with her baby daddy Gary Shirley ... holding the guy's hand like a boss.

Even if the two arrived to the Indiana court separately -- the on-again off-again parents quickly joined forces after the judge modified the existing order ... finally allowing the couple to hang out as they thrill.

When we reported first, there's a slim catch -- Amber and Gary still can't be in the same room with their daughter Leah ... unless they're trading custody.

Amber still faces two felony counts of domestic battery, one felony count of neglect of a dependent, and one misdemeanor count of domestic battery ... for unleashing an ungodly beatdown on G-man.