How does a shy/inexperienced guy break the touch barrier?

A major reason I always end up in the friend zone is because I never break the touch barrier, even when the girl gives me big hints (keeps "accidentally" bumping into me slightly while walking together). I guess it's because I don't know what I'm supposed to do ... so can anyone give me some good ways an inexperienced guy can break the touch barrier? Thanks.

Also ... is it acceptable to break the touch barrier when you're not on a date and just hanging out?
How does a shy/inexperienced guy break the touch barrier?
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