depending on how close and how long you've been together. if you've been together for a while and feel comfortable with each other you can try touching near his crotch if comfortable. If not and haven't been together that long just simply putting your hand on the back of his head or on his shoulder.
There's nothing wrong with kissing a friend on the forehead, light touch of the lips.
You touch her waist
Tell him you like him and would like to go on a date. On the date you can ask him to touch you. Alternatively, you can gently take his hand and put it where you want it. Kissing is probably a better idea the first date.
french kissing
They don't have to but they can. Kissing with tongues touching is referred to as French kissing.
Kissing his navel as close to his pubic region
By realizing that the Guy is twice as nervous about kissing you.
When both of your toungues touch when kissing.
tounge to tounge
Hug them?
of course
no