Most Helpful Guy
Just ask for a hug if you're leaving at the end of the 'date'/hangout thing :)
Then the next time you can give each other a hug when you see him at the beginning of the date and then you should've broken the touch barrier :) and then you can build the 'touching' up.
Think big, start small.
Most Helpful Girl
Treat it as a part of the life-experience you gain. Even if you fail, so what? They say that it is better to regret the things we do rather than the things we don't. Take a chance.