Obviously local customs differ, but I generally don't pick up a guitar in a store I've never been in before without asking first.
Assuming I were in that situation, though, I'd apologize and put it back on the wall, unless I either a) was interested in buying it or b) picked it up because I needed a guitar to plug into the amp I was interested in. If either of those were the case, I'd say so. I'd probably also promise not to scratch it.
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