Alright so there's this girl (who I am currently in the friendzone with) that I have been interested in intermittently for about 6 months. In the beginning, she was single and we were hanging out 1 on 1 a decent amount, but I ultimately got friendzoned because I didn't know about TRP and PUA stuff until recently, and I never really escalated things physically (never made any sort of move, never tried to touch her in any way or create sexual tension and build attraction). I know I am not an orbiter or a complete simp (I did some simp-y things but nothing too extreme), and this girl is still single (and she has never had a boyfriend, she actually has been making it seem like she is a little desperate) so I think it is actually worth a shot to try to escape the friendzone here. From what I have read the number one thing I need to do is touch her casually, like on the arm/shoulder area, small of her back, etc. However most of the advice I see online is geared towards people meeting a girl for the first time.

My question is how should I go about trying to get more physical given that we have been friends for like half a year and I have hardly ever touched her?

I might be building this up to be something a little more dramatic or awkward than it should be, but some tips or specific scenarios would really help a newbie out. Already planning to grab lunch with her in a couple days, so my goal for that is to actually try building attraction.