Penny, the lean forward and touch her shoulder bit is hilarious.

How can you spend an hour with a girl and not touch her?
You should kiss her when you first meet, just on the cheek.
You should have your hand on the small of her back as you enter the bar (or cinema door, or coffee shop w/e) which is pretty easy to do, you just get to the door a little before her and usher her though with your hand touching her back. The same should be done standing at the bar ordering your first drink (doesn't work for cinema or coffee I guess).

If you do all of this in the first 5 mins of the date, you know where you stand. If she clearly doesn't seem to like you touching her then you know to drink your drink and gtfo. If she seems comfortable with you touching her, make sure you sit next to her (not opposite, never opposite) and ensure your leg touches hers. Again, if she promptly moves, back off, if she lets it touch, then as long as you don't do anything stupid you're getting at least a kiss good night and a 2nd date.