So I just went on a date with this girl I really like, and man was it fantastic ! We went to nice and cozy burger place and hit it off really great, so much so that I would probably say that was the most natural interaction I've had with anyone in quite a long while.

Anyway, the point is I really like her, that date worked out really great, but no kiss close. That's not a problem to me in itself, but rather that I actually have no idea how to eventually get the kiss close.
I thought about it a few times while I was with her, but It never felt natural to even start sexualizing/escalating beyond the light hand touches and leg poking I periodically did and that she seemed to not mind at all, and I didn't want to ruin the feeling that everything was so natural.

So how do you guys do sexualizing/escalation ? I'm not naturally touchy and I have no idea how to do that.

TL;DR: Got a date with a great girl, and have no idea how to kiss close. Ideas ?