How do you touch a girl in a way that'll build a connection?

Don't start with her boobs or ass. Try holding her hand first.

 

Pretty much this, don't go straight for the pussy grab, unless you are some kind of rich celeb. What you can start with is to breifly touch her shoulder, just to break the barrier of touch. Keep in mind that it shouldn't be out of context. Girls are great in the way that if they want to be touched by you, they'll find excuses to touch you. F.ex brush up against you ever so slightly, touch your shoulder etc. It's up tp you to escalate.

 

Soft touches are a good way the shoulder, hand or back are good places to start. If your dating this person brush her face with your hand. If you kiss her kiss her like it's the last time you'll see her.