What are some ways to touch a girl you like without feeling like a creep?

So the other day, I meant to pat my crush’s back when she was talking to someone as My way of letting her know that I was leaving. But without thinking I was actually caressing her back with my hand. It just felt so natural and good. Maybe it’s from all that tension between us. As soon as I turn the corner, out of her view, I can hear her yell in excitement to her friend. I’m glad she liked it. Honestly, I just feel like touching her now because we’re so shy around each other that it’s insane. I just feel like if I get personal with her, we can finally be comfortable around each other.
What are some ways to touch a girl you like without feeling like a creep?
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