The point is, if you go into this with ideas about how THIS IS GOING TO BE THE ONE I KISS, at THIS CERTAIN TIME, etc. - you're going to be disappointed. The first date (or the 5th) isn't gonna be perfect. You're not going to do everything perfectly. You'll make mistakes. But you need to keep doing this so that you learn from mistakes.
So take the advice I gave the other guy - make yourself more interesting and attractive to women. Take cool photos of you doing that stuff. Eventually you'll get more comfortable with everything.
I went on three dates with a girl that were awful, just a few years ago. I never made physical contact, I just talked to her like a friend the whole time. I was not confident at all. I made an awkward move to kiss her after the third date and we never spoke again. It was over.
Now I'm not afraid to put my hand on a girl's arm when they say something funny, even in a non-date situation (no more hover hand), or when walking around with a date. I'm funny, I'm confident, I have a ton of interesting stories to tell and pictures to show (my photo sitting next to a live panda usually blows them away). Anyone can do it. I'm just some introverted goofball from South Jersey. But I took the time and made the leap to invest in MYSELF and my own life, not for women but in order to have a more fulfilling life. That is reflected in my attitude when on a date, and it's been great.
You'll get there. I'll recommend reading PUA materials again and filtering out anything you find creepy. It is extremely helpful with self confidence and breaking through that initial fear.