What you do is try to escalate gradually, like make a venue change and try to take her hand or arm on the way. Don't sit across from her, try to get her to sit in close with you to build comfort. Is she is showing signs that she likes you go in for the kiss when it feels right or at the end of the date.
I have also been in the situation when my logistics were crap. I still had a lot of success because I was younger at the time and the girls I was dating were younger too. So I would go out and meet them in the car and have sex in the car somewhere. As I got a bit older I would get hotels rooms for the night.