This should get you started:
HTML:
<input type="button" id="thebutton" value="Do Stuff!" />
Javascript:
var thebutton = document.getElementById("thebutton");
thebutton.ontouchstart = function(e)
{
this.setAttribute('class', 'pressed');
var touches = e.touches; // array of all touch data
var target = touches[0].target; // what DOM element was touched
var pageX = touches[0].pageX; // coords relative to site
var pageY = touches[0].pageY;
var clientX = touches[0].clientX; // coords relative to screen
var clientY = touches[0].clientY;
};
thebutton.ontouchmove = function(e)
{
var touches = e.touches; // same fields as above
var changedTouches = e.changedTouches; // only touches which have changed
};
thebutton.ontouchend = function(e)
{
this.setAttribute('class', '');
// cleanup, if needed
};
For more details, see: http://sitepen.com/blog/2008/07/10/touching-and-gesturing-on-the-iphone/
It's worth noting that MobileSafari sometimes does wonky things with touch events and form elements (input boxes in particular). You may find it's better to use a styled div than an actual input button.
EDIT: For what you're trying to do, I think you might be better served with simple click events, which generally work fine for things like button presses. Touch events are more for drag and drop, precise finger tracking etc. Try this:
thebutton.onclick = function(e) { this.setAttribute('class', 'your_class'); };
EDIT2: Now I see what you're asking for. Easiest way is this:
thebutton.ontouchstart = function(e) { this.setAttribute('class', 'pressed'); };
thebutton.ontouchend = function(e) { this.setAttribute('class', ''); };