Late bloomer & have never kissed a girl

The first thing you need to do is relax. Don't over think it. This stuff comes naturally, but you have to be relaxed. Let me also quickly say, you are NOT obligated to tell her that it's your first kiss. If you are on a date with a woman and it seems to be going good, she's smiling you're smiling and there is a connection then it would not be inappropriate for you to try to make your move in and kiss her. If you prefer to, you may also politely ask her if it would be alright for you to kiss her. don't over talk at this moment. Just make it simple. If she declines, it doesn't mean she doesn't like you it may just mean she doesn't want you to think she is "that kind of a girl." Sometimes it is best to build a friendship first. If she accepts your offer than go for it. If you are relaxed and open you will be able to sense where it is headed. If you have a bad first kiss, oh well! It happens to everyone move forward to the next ;)

start with a kiss on the cheek man. take the girl out and when you say goodbye just lean in and give her a kiss on the cheek like you would your aunt. Say, "I had a great time and we should do this again" It's sweet and respectable. Who knows if you get that close she may even turn and kiss you! If not your set for the second date.
on the second date just be yourself. Stay relaxed. Try to flirt a bit and initiate some slight physical contact. If she reacts well to it then you probably have nothing to worry about. The key is to be comfortable! if you remain comfortable she will most likely remain comfortable. Start off slow and don't get to excited.

I remember my first kiss! I got so excited I hugged the girl! lmao then I was thinking WHAT THE HELL AM I DOING? lol

Remember it is important to be yourself and to be comfortable. There really is nothing to worry about. Remember you're a man and women DO expect a guy to try to kiss them!

Sorry to hear about all that. A lot of us would have no concept of what you had to endure. You should tell her ONLY when you feel absolutely comfortable with her, trust and all. Curiously, have an girls attempted to kiss you? I think you will instinctively know when the time is right to do it. It will come out naturally.

Do you want to kiss her? If yes, do it, don't worry about not knowing or knowing your body is going to take over so let it happen. As for the time, second date is usually the best, so try that. This also probably means you haven't had sex before, this you should tell her if it gets to that point, which it probably will. Most importantly, have fun, you and your partner should be playful and experimenting in your sex life, enjoy it.