Should I go home with my teacher?

I'm a senior and my AP Lit teacher has seemed to always 'favor' me. Every time I get help from him after school he'd touch my shoulder or leg, which I never really thought much of it. I'm getting a B in the class and I really need to get it up to an A before next Thursday (which is our final). I asked him for help after school on Friday, but he said he was busy, but would be willing to tutor me at his house on Monday. He's in his mid 30s, married (to my current Government teacher) and has a son, but his wife and son are out of town until Friday. I don't think it's even legal for him to drive me home.