No, not usually. What is more important than her touching you is whether or not she is comfortable with it. Of course touching you is a sign, but it isn't everything. If you are slowly esculating and she is enjoying don't worry about it. Just practise, practise and practise. Don't just kino attractive girls, you have to make it natural. Do it to everyone. Eventually you shouldn't have to think about it. Start out by learning how to make gestures with your arms when you are talking so that when you go to kino it seems in context with whatever you are talking about and is natural. Don't just stand there talking then think 'crap I need to kino now' and reach over and grab her. Also, don't look where you are touching.
Look here if you haven't seen this:
http://www.sosuave.net/forum/showthread.php?t=147259
Say for example if you are running that don't worry if she is touching you back. It's enough that you are esculating without resistance.