You know it's not a rule that you don't kiss on first dat but the second... it doesn't work that way and it's way to soon... spend more time with each other and it'll happen if the mood and timing are right.
Whaaaaaaaat? She still gave you a hug, which would suggest to me that she's not lost interest. Definitely ask her out again, you have nothing to lose anyway right? If the appropriate times comes up, apologise for trying to kiss her and she'll probably say sorry herself and it will all be fine. Don't let something like that ruin your chances :)