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To hop out of Ubuntu Touch's settings, swipe upward.
Once done with settings, you swipe upwards and the settings disappear and the indicators reappear into the top bar.
To get to the Ubuntu Launcher, you swipe in from the left edge.
You swipe from the left edge to access the main applications. All this "swiping" works remarkably well.
Once you swipe from the left, you'll have the Ubuntu Launcher on the left.
Swiping from the left brings up the Unity Launcher. The Launcher provides access to your files, programs and currently running programs. You can add, or "pin," applications to the Launcher to customize it.