Hug him and pull away slowly, kinda pausing when you're still really close to his face. if he moves in, move in. And if not you can pause a little longer and move a little closer.
If he is tall and you are short- you can hug him with you on a step so you are the same height (I always like doing that). Assuming you have steps near your front door.
Kiss him so that you have his bottom lip and he has your top. that way it's a little more intimate and can last a little longer than a peck.
Don't be afraid either, first kisses are always a little nerve wracking, So go at it with confidence