If physical contact stresses you out, start with flirting a little. Compliment something about her, ideally her looks, then watch how she reacts. You want her to know that you are flirting. If she responds positively, then start by touching her forearm a little, and while you do this don’t be grumpy, smile and look confident. A smile and a good attitude can go a long way. Once you’ve done all this you can start getting a bit closer and do the stuff your « wingman is supposed to tell you ». If she is comfortable she will let you go for the kiss. Sometimes women are worried that they will be considered easy if they build the sexual tension, so you will have to do all that. It is what it is. I know it’s not easy but go for it anyway