Just hug her when she gets in the car / when you meet her if the bar is in the walking distance. Let her know your comfortable doing it. When you're walking to bar just put your hand around her hips, try to do it natural and like its not a big deal.
Also, when getting into bar, pick a spot where you two can sit together (not across the table!). While talking to her, just place your hand on her lower back or something.. make sure there's KINO... good one with "not yet, you gotta deserve it!" tho
(did above myself, worked like a charm, there was no awkwardness or similiar)