personally, I don't quite understand how you can class her as your girlfriend if you have hardly kissed once and you are afraid to touch her or be physical with her in any way. Perhaps you should talk to her and bring this issue out in the open. Does she see you as her boyfriend or just a friend? Because if she thinks you are just good friends this could explain her reluctance to be with you physically. But even if you are somewhat shy and don't feel like you can bring it up in conversation start by initiating little kisses or hugs like some of the other people have suggested. And if she doesn't bring up the conversation eventually and still resists then you need to take the responsibility for your own sake to clarify the situation and ask her what is wrong, what she wants and what she really thinks of you.

If she just isn't interested in you in that way than you are probably better off trying to be friends with her and finding someone who'll want to be with you in every way.

Good luck