Touch her gently so you don't startle her. If you two get really comfortable she might even let you slide your hand down a little lower. Once she's comfortable with you putting your hands on her waist, grab her and swing her around. Then, she'll be facing you.
One method is to use sexual innuendos that lead to dirty talk. Sexual innuendos mean talking about something non-sexual in a way that makes it seem sexual. Certain words and phrases (something being hard, getting wet, etc) lend themselves to sexual innuendo rather easily.
Use These 6 FLIRTING LINES To Turn Women On (Creates Attraction INSTANTLY)
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How do you make out and turn on a girl?
During the passionate kiss, use your hands to hold your partner and make them feel desired. Caress, squeeze, or grip your partner's face, lower back, upper back, chest, or neck with varying levels of pressure to stimulate these erogenous zones.
Small touches and gestures can be a good sign that a woman likes you. If she playfully pats your arm or rubs against you while you are sitting down, it could mean she wants to be closer to you. She also might want to hug you or be open to an invitation to be hugged.
This is very casual and common among friends. Hugging shows her that you are excited to see her and is a good start to initiating physical contact. If she refrains from hugging you back, she may be uncomfortable or uninterested and you should hold back.
Girls are way more comfortable when they talk about common interests. Ask about her interests, hobbies, favorite books, music, etc. If she asks you a question, answer it in a few, short sentences and then redirect the question back at her. This engages her in the conversation.
When you're talking with someone, touching their elbow, shoulder, or arm is a simple way to start physical contact. It only needs to last 1 or 2 seconds. Touch lightly so you're not putting too much pressure on the other person. For instance, you might come up to someone and touch their shoulder while saying hello.