"you cannot make contact with an enemy UG through normal prompted movement" is nowhere to be found.
Just had our first game, and we had the same problem. As there was no such statement we just moved into contact.
I know its hidden in a sideruling on P132, but something that basical should be mentioned at the start of the charge-chapter (this is the only way to contact the enemy) or/and the move section (no move into contact, stay 1BW away... along that.
Hiding elemental basics into a rule covering other special cases reminds me of DBMM (which I love, but not for that feature). So just a suggestion for the next edition: make that plain.