Don't sleep with her kiss her on the neck
"Caressing" a woman is something that can not be forced or taught. Your motive is key in this. If you truly love her, then the physical expression of that love may feel awkward to you at first, but if it is genuine it will feel "right" to her. My only bit of practical advice I can give you is "gently."
According to the caveman theory you knock em in the head with a club and drag them to your cave.....ugh ugh ugh more power!
"Caressing" a woman is not something that can be forced or taught. It must be experienced. If you truly love the woman, you express that physically. My only advice to you would be "gently."