A couple that are easy and will help improve your confidence:
“Footsie”. This is a great way to establish physical contact. Just let your feet touch and if she doesn’t move away, you will find before you know it you’re basically knees together.
Change location. Then, at the bar whilst your looking at drinks or something just touch her shoulders/back. Point things out. Being stood up offers some easy opportunities for physical contact.
On walking around, don’t be afraid to bump into each other. It’s very common for people to not necessarily hold hands, but to walk together shoulder to shoulder. Holding hands is quite a big and you shouldn’t feel you need to do that. In my opinion holding hands is even more intimate than kissing.
On kissing, don’t ask for a kiss. I respect some people find it invasive, and that’s fine. But, as others have said, read the signals, establish eye contact. If you feel the opportunity is right then don’t be afraid to go for it. Don’t lunge at her though...