Your touching should happen in a progression. In general, you want to start on the outside of her body — her arms and legs — and slowly move closer into her body. Put your hand on her back as you move her to sit down with you, put your arm around her lower back as she leans against the bar next to you, etc. Later on, this progression will continue into intimacy: tickling, massages, and cuddling (or spooning). And from there it will continue on into kissing, petting, and becoming sexual.
