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You can go to settings, then Passcode and turn Passcode Off
It is not recommended to turn it off altogether – your phone has lots of personal data on it. You don’t want to lose it and let just anyone get at that data. It is certainly annoying when it is asking for your passcode every time you touch it though! The better option is to chang the timing … I’ll bet your setting says, “Require Passcode …. Immediately” because that is the default, but you can change it to 15 minutes, 1 hr, even 4 hours.