Only creepy if you make it seem creepy. My friend is good with the ladies, and he is a nerdy short guy. Not one who you would assume to be a player. Perspective is key here. If a woman actually labels you as a creep for touching her slightly, forget her and move on.
I feel like there's an obvious cue of when or what level of contact is appropriate. If the girl seems like she's into you, chances are touching her is okay. There are pretty obvious things you shouldn't do, like making eye contact while licking your lips. It's creepy and hilarious, but more creepy. Trust me, I do it all the time.
Good luck, friend. Ice it.Might be taking her home. Will let GAF know on a bit. Wish me luck.