Touching her shoulder and her hand are nice. Everyone needs touch. It doesn't always have to be "invasive." Kind of play it by ear and DONT BE OFFENDED IF SHE PULLS AWAY (sometimes I'd pull away or he would. It was never personal, just our own way of dealing with things). I think friendly touches are a great start. I did that with my husband. Even at our worst we'd sometimes hug just as we were parting. But we were separated and in divorce. It was like being ripped apart so I think we both craved some type of connection.
There is no arriving, ever. It is all a continual becoming.
