You sound like me, Blighter, except the part where you are male
I thought the whole dating thing was completely hopeless, because I really wanted a relationship, but on the odd occasions when somebody actually asked me out, or I went on a date, I'd get so nervous about saying or doing the wrong thing, and about what the guy was expecting out of it (i.e. does he expect me to touch/kiss/sleep with him? What if I don't want to?), that I'd usually either refuse or stop talking to him after one or two meetings. Partly because of serious trust issues from not being able to tell if people are lying to me. I was finally lucky enough to be asked out by a very persistent AS guy (I turned him down more than once), who is very frank about what he wants from me, but also respects my boundaries (i.e. he asks to touch me, and doesn't get pushy when I say no) and is honest to a fault, so he is easy to trust and be comfortable with.
umm... don't be afraid to embarrass yourself, try not to overanalyze-- if you enjoy being around the girl, it is good. if you don't, it is bad-- and be aware that (to some women, at least) knowing a guy is interested in her (provided he is not a jerk) is attractive. But you probably have to tell her you're interested.
I'm hardly an expert, though. Best of luck to you.
Might this thread be better off in the dating/romantic relationships forum?