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^^^^^^^^^^^^ the above is pretty much correct, but its important to remember to take away your touching. The reason that you shouldnt be afraid to touch a girl is because you can always take it away the second she starts to feel uncomfortable. The more you do this, the more she's gonna want you to touch her again.
Oh yeah. I forgot to mention that. I only hold a touch a second at most. For example, you did the shoulder touch/ playful punch thing while saying something cocky-funny or a neg and she's giggling, showing interest, you then proceed to grab her arm or put your arm around her shoulder, walking saying: "Let's go get a drink." or something like that. When she's walking with you, not showing resistance, you let go. No reason to lock on when she's complying.
