Initiating a kiss?

[JusticeandMercy]

Okay, I know this is going to sound a bit silly to some people, but I've been in three relationships and have yet to actually kiss any of my partners. I just never feel like there's a "right" time for it. I'd like to kiss my current girlfriend sometime before the end of the relationship, but I just don't know what to do? I'm not expecting anything perfect; I know first kisses are usually not that great, but I'd still like to have one, you know?
So... advice? Obviously I should have her consent and preferably be somewhere a bit private (I'm not big on PDA) but what else should I keep in mind?

[Abhorrence]

I remember I kissed my first girlfriend when I was younger by asking her. Which sounds really stupid now, so I don't know if that would ruin the mood. Maybe give some signs you're going to do it with your body language, put your hand on her face and lean in slowly and she should get the gist of what you're attempting.

[ashdyn]

I can barely remember my first kiss but my first kiss with my current gf was fairly simple. It was before we were actually dating lol we were study partners for an English class and we were pretty good friends by then too. So we just finished working on a paper and just hanging out. When she went to leave I walked her to her car and I just kissed her goodbye. It just felt like the right time lol so just do it.