Are you two close, normally?
Invite her to watch a movie. Cuddle on the couch together to watch it. Cold weather helps with this, as you're more likely to cuddle close.
Above and beyond enjoying having her so close to you.... you can pretend to fall asleep while the movie is on. While "asleep," you can do things, like nuzzle into her neck, or move a hand to hold her thigh or breast, all while being "blameless," because you can't control wandering hands in your sleep.
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