Don't know if this will help you, this is just what happened in the last movie date I had (tend not to do them cause doesn't leave much time for talking) I let her touch me.
This isn't planned, it's just what happened and turned out well. Basically I sat with my ankle up on my other thigh, so that my knee is pointing out (I usually do this) but it's crossing past the arm rest into her space. I guess this gave her the opportunity to touch me first. Her arm was on the arm rest and she let her hand fall onto my knee. I could tell this was driving her nuts because she was keeping her hand perfectly still, even while talking and doing other things, because wasn't sure if she was allowed to because I wasn't moving and just may not have noticed yet.
Soon it was obvious that I must know about it (she and I had shuffled a bit, her hand kept bumping my knee), but I didn't move away, so she started to push the "boundary", and started gently drawing circles on my knee while watching the movie. It was exciting because it was all her, I was doing nothing, and it was almost like boyfriend girlfriend behaviour even though it was just a 2nd date.
We ended up going home for an F close, and started dating for about 4 months

She was really really into me, so it was a little different than usual.