I can pull, I lack the confidence to make moves, I can usually pluck up the courage to kiss them, but what I wanna know is:

How do you move from kissing and groping to getting her to take you home!?

use kino, once you've kissed her, just make the move, bounce to another location, or isolate her then get her to go back with you. If you have attracted her enough, and are kissing passionately, have her number and she wants to see you again, sort out her transport arrangements so she can go back with you. My tactic is to say "I'm staying with you tonight" and smile, but i only use it once i have turned her on enough.

You just have to make moves that feel natural to both of you, flow is key

Sounds like the brother needs to bust a nut. Here's some advice from the other side of the pond. I call it "fractionation" after the hypnosis principle. Say you're making out, eventually, you just put your hand on her tit. If she doesn't move it away, great. At some point you put your hand under her shirt, or begin unbuttoning, or whatever. If she stops you. You stop. If she says, "We shouldn't be doing this." You go along with it, "Yeah, you're right, we shouldn't." Or, you do a freeze-out (very effective). The point is, you go back to it later, like in 15 minutes. Each time she'll let you go further and further, like in hypnosis when you fractionate, they go deeper and deeper. Before you know it, you're inside her, "filling up her gas tank" and she has a fake name for you so that you can avoid the paternity issue.

Hah!
Ok this is all great but not really the whole point of my question.
I do know all this stuff, in the back of my mind, the real question is how do I overcome my mental block? Consciously I can see the IOI's and jude the situation, and I know she wants me. Subconsciously I don't believe its possible she could want me and its a brick wall that I just hit and can't overcome.