All comes down to what your comfortable with.
Here there is a stage before you commit, when your dating, and getting to know each other. We call it "seeing" someone. It's fairly common to start making out and stuff during that time. Even though no commitment is made.

Really it depends on what that level of physical contact means to you. If it's something you only want to share with a life partner, and you will feel used if this doesn't work out. Then you probably should not even go that far until your comfortable.

Honestly though most people like some level of intimate contact to reassure themselves your compatible together.
(Some just want to cop a feel..)

It would suck to commit only to discover your feelings were wholly platonic.
In other words it's too personal to give a single piece of advice. Except to stick to whatever you comfortable.

Lark, how old are you both, and how long have you been "seeing" (dating) or similar?
Just trying to gauge his response to you asking if. He wants a relationship.
Cos if it's only been a few weeks he might just feel it's too soon to tell.