Well unless you're like 14 or 15, there really is no real waiting time in my opinion. What you did was totally fine, she was probably just surprised.
There are only two reasons to take a relationship slowly, the first being if it's one or both partner's first time, the second being if you want the relationship to last.
It's funny to think that when I was 13, I waited almost a whole month before I kissed my girlfriend. Four years later and I may not be dating the same girl, but I'm still fucking her on the odd occasion, lol.