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Copper is a very good conductor of heat. So it allows maximum amount of heat to pass through it from one point to other. But glass is a poor conductor of heat and hence it allows a very little amount of heat to pas through it. 
When we touch a heated copper piece and glass, more heat is transferred to out hand from copper than glass. So copper seems warmer.
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When glass and copper pieces are heated to the same temperature are touched , the copper piece seems warmer then the glass piece. This is because copper benig one of the best of heat allows maximum heat to pass through it and glass being a bad conductor doen not aloow much heat to pass through ehich makes copper pieces warmer than glass pieces.
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