Touching girls - what's okay, what's appropriate? What does mutual touch mean?

CuriousMale
The basic answer to the question is simple: Don't ever touch her (or anyone else) against their will, without making sure they are okay with it. This particularly applies to more "private" areas of the body.

However, I'm wondering what you guys think about touching girls when talking to them and such: Very generally speaking -- what is still okay (for the girl)? What kind/amount of touching towards other girls is okay when you are in a relationship yourself?

What does it mean when a girl is okay with your touch (i.e. doesn't seem uncomfortable, doesn't move away etc.) and even touches you?

E.g. recently I was out at night and when talking to this one girl I would very often like touch her arm, her back, put my arm semi-around her back and even keep my hand there while we were talking and she wouldn't complain/move away and/or even put her arm/hand on my body. Is this still a "friendly touch" or does this mean she is attracted to me (she has a boyfriend)?
Updates:
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EDIT: to clarify, we were both somewhat tipsy and she isn't usually a touchy person (at least when sober) and wasn't touchy to anyone else that night.
Touching girls - what's okay, what's appropriate? What does mutual touch mean?
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