Ok! this is a great thread i think.
How i do this is asking if she would like a massage to start with. But i think it's best to firstly now her a little bit and already had some physical contact.
You can also act more Don Juan by saying she needs to undress.. doesn't have to be completely but at leat her back and loosen her bra-strap.
Make sure your hands are warm and use oil! oil is one of the keys @ massage!
you can rub your hands warm with the oil.
Slowly build up (ofcourse) don't begin kneeding her skin as though she enjoys hard SM or pain. (maybe later in the massage and watch her signals)
Massage as much as skin as possible and vary your moves.
What most women really like is that in the course of massaging her> put your hands under her hips and lift her hips a little bit up (without a special meaning (yet ;-) and then down again.
See how she reacts, i did this 1 day again with a girl and she really enjoyed because i did it several times and she also moved her hips up abit by herself and making sounds from her mouth.
So that's a good sign.
I ended up kissing her back and a little above her butt. That's a hotspot! especially if you're massaging a lion (starsign), lions love to be touched there.
ps: don't initiate sex, you just wanted to give her massage. She'll let you know if she wants to progress.
good luck!