Don't call her today, give it like a few days. Don't offer an excuse unless she asks and then tell her you were busy with last minute work. Ask her out for another date.

For the physical stuff, just go with the flow. You should be comfortable with her when you are out, so relax. Ask her to dance and be honored you have such a good dancer with you. Let her touch you. If things go well, go for a kiss at the end of the date. Just lean in and plant one on her when you drop her off.