Fear of initiating contact on dates

Hello all 20(M) here and I have started dating recently for the first time about a few months ago or so. Out of those that I have been on, I only got one led to a second date however my most recent date is where I think I realized what I'm failing at.

Various times throughout the date (we went to an arcade) she moved closer to me more than a few times and I didn't know what to do. Part of me got the memo and wanted to be more intimate but at the same time there was an anxiety that I was misreading the situation and might be overstepping a boundary. The one time I did engage in physical contact on a date she very clearly made the move on me, but I understand how unlikely that is to happen again on future dates.

I have no problem flirting, being confident, and carrying conversation. I was told by one of my dates that she was puzzled at how I was so hesitant to make contact since I appeared as if I had so much experience with everything else.

I am just looking for some basic advice regarding these situations, any response will be greatly appreciated.