i have been working lately on establishing a connection with people through physical contact. i haven't been getting bad results it's just that i haven't gotten good results either. Anyone have any good experiences or knowledge to impart?

i know everyone has different boundaries and there are some pretty obvious no-no's when it comes to physical contact, but are there any specific things i can do to take this to the next level with ladies i am interested in or even with friends and coworkers on a daily basis?