It's said you and I have to mingle (5)
I believe the answer is:
weave
'mingle' is the definition.
The answer and definition can be both to do with contact as well as being verbs in their base form.
Perhaps they are linked in a way I don't understand?
'it's said you and i have' is the wordplay.
'it's said' indicates a 'sounds like' (homophone) clue.
'you and i have' becomes 'weve' (we've).
'weve' sounds like 'WEAVE'.
'to' is the link.
Can you help me to learn more?
(Other definitions for weave that I've seen before include "Make tapestry - wind in and out" , "move from side to side" , "Combine into a whole" , "Form by interlacing strands of material" , "Make by interlacing" .)