- If you do it right, you can get any guy no matter what. Then, fear of rejection goes away because you know all it will take is some more time. The key, for me, is a specific way of playful flirting, but it includes touching too and if you are uncomfortable about that then it will be hard...
- Second, if what you want is intimate physical contact with him, you don't necessarily have to go out with him. Just get what you want. It's perfectly normal for friends to hug and hold hands, for example I have a female friend who always sits in my lap and slept on me several times when our group of friends we went hiking and camping. But she goes out with a different guy, it doesn't bother any of us.
So think about it, do you really want to be lovers or just stay friends but touch more?