You send events directly to /dev/input/...
If you don't know what to send you can grab it from there too, so you can record a specific touch and replay it any number of times. Not supposed to be done like this but it works.
Code:
# cat /dev/input/event1 > /tmp/record.input
touch the screen where you like it
kill the cat (ctrl-c)
# ls -l /tmp/record.input
will be a few hundred bytes...
to replay the recorded touch:
# cat /tmp/record.input > /dev/input/event1