How and when do you make the move from dating into a relationship?

I am really new at in the dating world... I have had 3 girlfriends but never dated, all my previous relationships have started as friendships.

Now I have been out for quite a few dates with a girl and I feel quite confident she really likes me. We both were looking for a serious relationship.

But how and when do we take the step into a relationship? It has gone a long time since I got into my last relationship so I don't even remember how that worked out.

We haven't had sex or kissed yet, but I have never done those things before being in a relationship before either.

How and when do you make the move from dating into a relationship?
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