To randomly kiss a girl means that there is no planning. You can walk right up to a girl and kiss her or set up a game that involves kissing. Fair warning that unwanted kisses can sometimes be considered sexual harassment and that is not good for you.
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It's important to always ask for verbal consent before initiating any physical contact, including kissing. Respect her boundaries and only proceed if she willingly agrees. Remember that genuine respect and communication are essential in any relationship.