How to start An Affair with a married woman with a daughter?

A friend of mine is very hot and I’d like to have an affair with her.
The problem is that she is married and has a little daughter.
How should I start?
Sometimes we go together to a park for letting her daughter play and I think it is the good moment.
I have noticed that when she keep her daughter I can touch her (the mum) on her hip, shoulder, finger, neck, hair and she looks like nothing has happened.
Would it be a good moment for a kiss?

Shouldn’t be hard, over 25% of married American women have affairs.
I don’t blame them.

Sade – Frankie’s First Affair (with lyrics)