How do you hookup with a girl?

I find it quite weird to have sex without an emotional connection but maybe that's because I just break out from a long term relationship. Yesterday a girl from tinder accepted to come to my place but I didn't do anything with her because in my head there was no non-weird way of doing it since I didn't know her.

I still don't see a way in which you can make it non-weird, so how do you do it?