Alternatively, you could try taking gradual physical steps before you rip off her clothes and try to penetrate her. You might not want to try all of these on the same date.
1. Gently touch her hand or arm. Does she flinch?
2. Hug her.
3. Kiss her. Does she just passively receive it, or does she actively kiss you back?
4. Hold hands. It sounds lame, but if the two of you aren't comfortable holding hands, then you're not ready for sex together.
5. If you've got some degree of privacy, try putting your hand on her leg. Does she flinch? If not, slide your hand up higher, gradually.
Anyway, you get the idea.
Good decisions come from experience. Experience comes from bad decisions.