Where is a good place to have first kiss?

Me & my friend are both in the same situation and need help. We are both 16 and have never been kissed. We are dating boys a year older than us that also have little to no expierence and are EXTREMELY shy (my friends guy hooked up with a girl before but she was really easy, my guy has never had anyone). So both of us have gone out with a couple of dates with the guys. We both went (these dates were seperate from eachother) to the prom, hanging at eachothers houses, out to get icecream, etc. It is obvious that we like eachother. We want to kiss them but don't know when to do it without it being awkward. I know some people say just do it and i have thought about and tried that but it is too weird when were in his house in broad daylight playing ping pong or getting out of the car in the driveway. We both want it to be special and not awkward so do you all have any ideas of dates we could go on with good kissing oppurtunities or any advice on how to make it happen? thanks.