How to finally grow a pair?

So I have liked this guy for a while now and I am 70% sure he likes me back, but he has never asked anyone out before. The only time he ever came close was after three months of knowing her, but she did not feel the same wait at all and he was crushed. We hang out almost everyday in a group of friends but it is so hard to grt alone time! I decided a while ago that it would have to be me that asked him out but whenever we are alone I get SUPER nervous and I can't even look at him without blushing:/ Does anyone have any tips on how to boost confidence? how to ask someone out without looking like an idiot? How to physically flirt (like casually touching his arm or something) without being creepy?
How to finally grow a pair?
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