How do I break up with my girlfriend?

We've been together for 2 years now and I know she loves me dearly, and she is my first girlfriend, but I don't love her anymore. At first I felt sufficated by our relationship because she would want to see me everyday. I would give her rides to and from school and work whenever I could so I would spend like 2 hours driving everyday. I would always have to do the things I wanted to do and needed to do around her schedule. Lately I told her that I wanted some space and that I would only see her on my days off. She agreed and she says that she misses me on the couple of days that she doesn't see me, but I don't miss her. How should I go about this?
How do I break up with my girlfriend?
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