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20 mins isn't a lot of time.
Talk to her confidently... and like you'd talk to any of your good male buddies.
That means playful and jokingly.
Don't be nervous (easier said than done, but if she's as into you say, then what are you worried about?)
I would focus on escalation. You want to break the touch barrier here. Find excuses to touch her hand or her arm. Guide her by putting your hand on the small of her back.
You're probably not going to be making out with her after 20 mins... but if she's responding really positively to your escalation you can you can give her a kiss when you hug her goodbye.
Yeah I am nervous and I just cant help it.. Usually I start thinking too much so my mind goes blank, because I start liking the girl too much too soon -.-.. Its just me and its hard to change