I believe that if you have during the first date, there was a desire to kiss her and you did not notice a sharply negative attitude to this action (and if it was you would definitely notice it), then you just have to try to do it. After all, if the date goes well, it is quite normal to make a rapprochement, at least to the most innocent touches.

If the opportunity to kiss did not present itself, then you will definitely have it at the end of the date. Give her a good-bye hug, stay here, and try to kiss her. This will show that you spend time with her, you are not for the sake of getting into the friend zone, in addition, her reaction will give you information about how she feels about kissing on the first date and how much she is ready to kiss you at all