If you are sitting down, start kissing her a little harder. Then, if she gives back, slowly slide your hand up her leg. If she says stop, STOP. It may be going to fast for her. Once you reach her upper upper thigh, touch the top of her pants with one finger. Slowly increase the number of finger. If she is still okay with it, slide one finger inside her pants. At this point, she will be trying to make things easier for you. She will probably spread her legs out and lean her crotch up. Add more fingers, then stick your whole hand down there and pull down her pants a bit. Move your fingers down and touch her in a way she is confortable with.
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Make sure your hands are clean before engaging in sexual activities. I would recommend starting with other types of foreplay before moving towards fingering. Chances are, she'll tell you if she wants it. If she's open to you playing with her, that's awesome. Start with tracing a line up the inside of her thigh, begin at the knees. Once you get to her labia, trace your finger along her lips from top to bottom (front to back). Gauge her reaction by looking her in the eye. Then run a finger on the inner labia, insert it gently into her vagina. Talk to her, ask her how she likes it (she knows her body). If you're feeling flexible, try putting pressure on her clitoris with your thumb while moving two fingers (middle and ring) in and out of her and stroking the outer lips with your other two. I can tell you from experience that it works like magic. Most important things to remember: relax, and have fun.