I found this book when looking for activities for someone around personal space.
The book is available in the ELSA Amazon book store and you can see it in more detail by clicking the following links. There is also an activity book to go with it. I also found a youtube video of someone reading the book so you can get an idea whether the book is for you or not. It is American so there will be certain things that may not be totally appropriate or understandable to children in the UK so definitely a book to be read to child by an adult rather than a child reading it themself.
And I found a free resource on teacherspayteachers.