Use kino. It's your best friend. Keep the touching above the knees and below the head (ie: neck and lower). Slowly touching, gentle and subtle at first followed up by slightly more forceful.
If you guys werent watching a movie, then maybe a massage can do nicely as a transition, easy to move into sexual advances during/after a massage (you can almost view it as alcohol as it lowers their inhibitions slightly).
Read her body language, if she's moving into the touching, well, that's a no brainer. If she's partially resisting try again, usually if by the 2nd/3rd time she's still resisting and each time stronger than the last, then she's obviously rejecting your advances. If she partially resists but no other verbal physical cues are given, then she's unsure about it and you can swing her either way, depending on how smooth you are. Just don't invade her forcefully. The key, again, is to be smooth. Move from none sexual to sexual touching, from gentle to firm.
It takes practice, but is excellent for breaking down those defenses. Oh, and one more thing: dont put yourself into a slappable position, that'll end the relationship real quick.
