How can someone inexperienced break the touch barrier?

random-ren
I've never had a boyfriend before and the relationships I've seen my friends go through have ranged from almost non-existent to extremely physical. I don't really understand what happens when two people admit they like each other. Are they given permission to makeout or something?

Physical touch makes me uncomfortable, because it makes me feel like I'm violating my crush. According to what I've been looking up though, breaking the touch barrier is one of the flirting basics, and I really want to give him a hug! How can I break it without violating him or overstepping my boundaries?
How can someone inexperienced break the touch barrier?
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