I feel like im taking advantage of her? Girls what do you think?

Idk, you shouldn't feel guilty for touching her just affectionately or for kissing her. If her parents would disapprove that much, it is really respectful of you to consider that but just make sure you talk to her about it and see where she stands. Cus in the end, its her family and if she decides she's okay with it then you should be too. It doesn't seem like you're taking advantage of her at all if you both want to do it