A wireless access control system for a door may include a lock assembly carried by the door. The lock assembly may include a lock, lock wireless communications circuitry, a door position determining device, a touch sensor to sense touching by a user, and a lock controller. A remote access device may be remote from the lock assembly and may to communicate with the lock wireless communications circuitry. The lock controller may be configured to determine when the door is moved in a pattern based upon the door position determining device, perform an authentication of the remote access device based upon determining the door being moved in the pattern, and switch the lock from the unlocked position to the locked position based upon the authentication and the user touching the touch sensor.