I wrote a wicked post on this yesterday but my computer froze just before i clicked 'submit'. Heres the cut down version.
1)Touch her now and then playfully and judge her response.
2)Dont touch her on the tits or ass or pu$$y since it shows you have no control
3)Never ask her to if its alright to touch her, just do it and make it seem like its second nature
4)Use the push-pull technique where u touch her gently for a while then back off. If she dosnt reciprcate then she is either very shy or not interested. If she is not interested she may become slightly interested because your ignoring her.
5) Dont give up if she is not receptive but know when to cut your losses
6) Touch her on the shoulder when she makes you laugh, leave your hand on the small of her back and try to talk as close to her ear as possible (if in a club)
7)Body language says it all, you will know when its a good time to initate kino.
8) Had some much better points but i cant remember them, this should be enough to get the idea