I used to be kind of like that, no shame. I just did not grow up in a loving household where we hugged.
It will get better with time and practice. If someone you are very comfortable with and you have affection for...I'm not saying sexual per se but like a good girlfriend. Nothing wrong with putting your hands in the middle of her back and sort of softly patting or towards the lower part of her back. I would hug at a comfortable pressure, not too tight but not wimpy either.
If its someone you are sexually attracted to I think its ok to place your hands lower or to hug closer/tighter.
Remember, if someone initiates the hug they obviously are ok with you touching them so don't hold back or feel weird about it. Not only that if you freeze up and do the awkward half assed hug it might make the person on the receiving end feel like you don't like them or aren't comforable getting near you and take it personal.
So, so you think you can tell Heaven from Hell,
blue skies from pain.
Can you tell a green field from a cold steel rail?
A smile from a veil?
Do you think you can tell?
And did they get you to trade your heroes for ghosts?
Hot ashes for trees?
Hot air for a cool breeze?
Cold comfort for change?
And did you exchange a walk on part in the war for a lead role in a cage?