It seems to me that every time there happens an electric shock through the contact with the ground, it happens because there is a difference of potentials between the contact point and the ground (for example touching a live (hot) wire,) and also because the body completes the circuit with a grounding rod to which the neutral (or ground) wire is connected. It seems that if there was no rod in the ground (no grounding) there wouldn't be a way for this current to have a complete circuit. Thus, you can touch wires of an isolated circuit and never get an electric shock because the current will never find a way back to the circuit.
Do we need to bother then to ground isolated circuits? For example, a car is not grounded, and you don't get a shock from touching a single battery terminal. Of course a car battery of 12V will not kill you anyways. If it had a potentially dangerous voltage would people try to ground things like cars?
Does the grounding have something to do with things connected to the common electrical grid (like power stations) where the electric energy has to be shared with everybody?