Dating advice........?

I'm going on my second date with a guy I've liked for a long time (in gr. 5, a bit in gr. 8 and last year), but the first date was with a bunch of our friends (I think that still counts...). When we walk home together, there's always a lot of silent moments where neither of us know what to say. I really want him to kiss me, and don't want too many awkward pauses. Any advice?