I agree on "giving with the expectation to get something back" point. This is called a covert contract. Get "No More Mr Nice Guy" and read it and you will learn all about this. If you have ignored her in the past, and doing things for her is a 180, then just do it and give something to the woman you love without expecting some kind of reciprocation, or even appreciation in return. The time will come when she is ready to give to you, but for now take this time as an opportunity to learn how to truly give without expecting reciprocation. You need to break these covert contracts, they are simply R killers.
With regards to how to go about it, here is my personal opinion. Either do it or don't, but be decisive. Women want a man who is decisive and resolved, not someone who is uncertain, lacks confidence, and beats around the bush (taking temperature all the time is a symptom of this). If you read a sign from her, just decide. If it is something that involves intimate physical touch, ask her straight out "would you like x". If she says yes, say no more and just do it. Always stand behind your actions with conviction. If she says "wth are you doing?" say "oh sorry I thought you might like x" and then stop like it's no big deal. Don't act all hurt and rejected, that is very unattractive (and yes I am guilty of this, but I'm working on it).
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If she ever does the same - reaches out with her legs/feet to rest against my legs, should I just ignore them until she says something? How do I acknowledge it?
The answer to your question is, how do you WANT to handle it? Don't worry about her, think about you. Do you want to give her a massage? Then simply offer. If you just like her resting on you, then go with it.
Spellfire aka Mike
"Women do not like controlling men. They respect and are attracted to men who control themselves. They ultimately are repelled by men who allow themselves to be controlled." -S&A