I’d give her a big hug, tell her you’re glad happy to see her and whisk her off on your date/adventure. You should flirt a bit a let the sexual tension build.
Three things will happen at this point.
She’ll just keep it low key and not flirt back..there’s your cue to chill and follow her lead.
She’ll instigate for flirting and the sexual tension will build and you’ll have another make out session
She’ll pace and/or one up you on the flirting/sexual tense and it will build until you guys can’t keep your hands off each other and hopefully you both get laid.
The important part is to read her body language and not be overwhelming/overbearing.