Plug in your PSU to the wall (switch off), touch the PSU. You are now grounded and have no static charge.
The components you touched are not static-sensitive, no worries there. Only components to be worried about ESD wise are the RAM, CPU and GPU (to a lesser extent).
Even then, as long as you dont touch the gold plates/pins on them (which you shouldnt regardless of any precaustions you take), you should be fine.