For half the retards in this thread, I'd like to point out that he's not asking HOW to kiss, but how to INITIATE a kiss. Jesus Christ, EVERYBODY knows how to kiss! Its something you learn as an infant! 4-year-olds kiss! He wants to know how to initate it with someone he likes!
Honestly, I can't tell you that though. My ex-girlfriend kissed me first. Our first date we met at the local amusement park. I was with a youth group of mine (though me and another guy split off from the rest so we could meet her and her friend), she was with one of her best friends at the time. We spent the rest of that night going on rides n' shit. When it was time for us to take off, we held hands for a little bit and talked about how much we enjoyed being together (for the first time. We met on a local BBS, and up until that night had never seen eachother at all). Said our goodbyes, expressed wishes to see eachother again, and in that kind of awkward moment where you don't really know how to leave eachother, me trying my damnedest to decide whether or not to try to kiss her, she reached up and kissed me really quickly.
JoAnna, her friend, says I had a stupid grin on my face. I honestly have no idea, I was just shocked.
Point is, it probably shouldn't be something planned. The best way to do it, in my opinion, is to be spontaneous. If it feels like its the right time, then go for it. Don't try for something long, passionate, and amazing. Just start with a simple kiss. She'll react either by pulling away and letting you know it wasn't the right time (oops!) or by at least looking quite pleased, if not kissing you back.