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There are four Circles that touch all the sides of a given Triangle. These are all touched by the Circle through the intersection of the Angle Bisectors of the Triangle, known as the Nine-Point Circle.
Given the above figure, 
, since

The line tangent to a Circle of Radius 
 centered at 
 

See also Kissing Circles Problem, Miquel Point, Monge's Problem, Pedal Circle, Tangent Line, Triangle
References
Dixon, R.  Mathographics.  New York: Dover, p. 21, 1991.
 
Honsberger, R.  More Mathematical Morsels.  Washington, DC: Math. Assoc. Amer., pp. 4-5, 1991.