For me, touch is a part of communication with people I am familiar with. Everything from a pat on the back for buisness friends, to a warm hug to friends to other things with my wife.
I remember when I first met my wife, we were touching amlost immediatally. Women use touch as a part of their signals that they use to say "yey" or "ney" to men who they are with. I suggest, as you are a man, you wait for the woman to playfully touch you in some way. Look for touching that specifically targets the upper legs, chest, neck, face, and hands. These are the erotic zones that women subconsciously target when dealing with someone they are itnerested in. One they brake the touch barrier, you are free to touch in change. If sh touches your hands, you can touch hers. If she touches your leg, you are free to do so in turn (simple open paln hold for a moment, much closer to her knee than to other areas).
Ultimatally it comes own to how comforatble you are not only with others, but with yourself. Touch is a sign of confidence, and we all know that women enjoy a more confident man. Just be content with beign accepted or not, and know that you'll be fine if you are rejected. That is a large part of confidence.
Have fun.
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