Early date stuff - Offer your arm while walking. If that goes well, switch to hands later.
Stare into her eyes. While holding hands. Smile slightly. Pay attention when she moves closer to you. If she backs up, back off.
Later dates - If your earlier contact is going well, you can place your hand lightly on her upper back while guiding her to her seat for dinner. If you are both standing some place, run your finger up her spine or across her back when behind her. A short caress to her upper arm when you meet is also nice but not too forward.
Eventually, you will have to get up the nerve to kiss her. Watch for that moving forward, not back behaviour. Stare for a bit first, you'll get a sense of where you are from that.