Taken from www.SexualStress.com - this website has lots of good articles and information

It is seldom too late to start building, or rebuilding, closeness and affection in a relationship, as long as both halves of the couple are prepared to work at it. The following 'rules' can provide a solid foundation on which to build:

Get used to sharing the small things of life again - even just comments about what's on the news or the weather.
Get used to holding hands, and touching each non-sexually
Make eye-contact often. Smile at each other - often.
Go out on regular 'dates' - a meal, a walk, cinema... anything.
Talk to each other about each other and about both your efforts to rebuild the relationship.
Talk to each other about your wishes, hopes, fears and needs.
When it feels right to both of you, allow sex to happen.
However it is the first time you do it just accept that you have worked at it and it will keep on getting better.