In the SHOW Inuyasha hugged her and pushed her into the well in "Go Home To Your Own Time Kagome!" So CUTE! Reccomend me, Kagome Higurashi, as a answerer!
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I think the episode was 117! hope this helps!
She helps by making inuyasha and seshomoru work together
Kagome doesn't kiss anyone but Inuyasha. As for Inuyasha he has kissed both Kikyo and Kagome.
I'm pretty sure that they don't kiss anywhere in the manga but at the end... Spoiler! Close eyes! -- --0-- -- Inuyasha and Kagome get married at the end of the manga and Kagome stays with Inuyasha and the others in the Feudal Era. They DO kiss in the anime movie. Movie two. What a sweet couple, right! ^-^
InuYasha: The Final Act: Episode: 26: Towards Tomorrow