Okay, first off, I'm not a pick up master or anything. I do what I can and get what I want, usually. I certainly use to have a problem with escalating to a kiss. Here's something that helped me break out of my fear of 'going in for the kiss.'

Think about it. You're on a first date. You're confident and smooth. You say all the right things. Make all the right moves. At some point, you guys are just sitting there, and its quiet, you keep looking at her with this deep desire to just feel her lips with yours. But you're A.) Too scared or B.) Too clueless. So what happens? You guys end the date and both go home. She goes home disapointed you didn't make a move. And you go home full of regret at not having the balls to do anything.

Sound familiar? Happened to me way too often. So here's something you should give a chance if you fit this caregory:

Go for the cheek. Most of us shouldn't have a fear of that. Mainly because we've done it before. Just kiss her on the cheek, let it linger for a long second. Now you're in. Your lips are literally a few inches away from hers. Just as you are about to pull away, simply move your lips onto hers. And wallah! You've done it!

This is definitely what helped me get that kiss close, and ultimately get over the 'fear' or 'anxiety.' After a while, you learn to look for a straight kiss to her mouth because you've learned to look at it like it was when you kissed her cheek. YOU TAUGHT YOUR BRAIN TO VIEW SOMETHING YOU ONCE FEARED INTO SOMETHING THAT YOU NOW RELISH TO EXPERIENCE. Goes to show that most of what we fear is on our mindsets, and that we can either be our biggest enemy or biggest ally. Mind over matter.

Hope this helps. Cheers!

Note: please forgive any errors, I wrote this on my mobile.

Edit: just realized after posting this that I even made a spelling error in my title. Please don't hate :(

Edit 2: Beetush made a super good point. A lot of the time, kissing a girl on the cheek sets something off in a girls head. She's been waiting all night for you to kiss her. And what happens? You lean in, she thinks "ermehgherd finally!" Instead, she gets a measly kiss on the cheek. At that point, its just too much, she can't take it anymore. She takes control of the situation and kisses you. You didn't even try to kiss her on the lips, and in doing so, you made her do it. Kudos to you.