I need help on when the right time for the first kiss is?

i've been datin this guy for a couple months but we havent kissed..im scared to try because he is 6'3 and im only 5'3, i'd probally miss or do somethin embring...he's not the real big huggy kissy guy either he pretty much keeps to him self (he is extremely shy). At school when the girls and guys split up for bball practice everybody hugs and kisses their bfs good bye. Should i just jump on him and do it? or wait for a more private together time wit just me and him since we both r kinda shy?