I just had my first ever date!

I think it went well, we were out for several hours and went to a really nice pizza place with a great view. We talked for hours and went on a little walk afterwards, but didn’t get up to any “physical contact”, like not in a weird way but I wish I held her hand or something. Should I try to be more outgoing for our second date? Neither of us have gone on a date before so we didn’t know what we were doing.