I started by taking baby steps on developing the mindset that women loved to be touched and by not touching them your being an asshole by depriving them of what they want. This takes a little time and I'm still getting used to it but the next big thing is to start taking baby steps when touching girls in your interactions with girls. So when you meet a girl you need to wait for a moment of elevated emotion (a high point) and try touching her lightly on her hand or upper arm. Be sure you're close to her when you touch her and in her personal bubble!
A good exercise to do when cold approaching is when you go meet take her hand and hold it while introducing yourself while looking into her eyes. Hold her hand for as long as you can until she pulls away (obviously keep talking while you do this). If she doesn't go away see how long you're comfortable holding her hand for or if you'll crack under pressure. Do this 20 times and get to the point you're not anxious holding girls hands until they pull away.
Once you can do this get to the point level up and start putting you hand on the small of girls backs when you lead them and see how long you can leave your hand there without pulling away. Get comfortable doing this and level up again. Over time you will become a person who touches women naturally and effortlessly.
Check this video out for some good insight and tips on touching.
http://www.youtube.com/watch?v=V3Z4Nq0OrrM