This is highly specific to circumstances, voltages and capacitances involved. A definitive answer without that information would be irresponsible.
If the question is "can a capacitor discharge in to me if I only touch one lead" then the answer is the same. It depends on the circumstances, voltages and capacitances involved.
Most of the time a charged capacitor is not in complete isolation, one side could even be earthed or connected to the chassis so a path could be found, especially at high voltages, even through things that are not normally considered to be conductive such as air.
I'm not saying this is a common danger especially with lower voltages. Only that a charged capacitor should be treated with respect even if a current return path is not immediately obvious. I
would not want a reader to come to the conclusion that touching a single pin of the capacitor is safe to do in all circumstances.
Lower voltages and capacity's are generally safe to work with but depending on the circumstances could still pose some risk and should be treated with respect.
This video demonstrates some of the risk at the extreme end.
Big Capacitor Safety