see mud thread.
you must find out exactly where you are or are touching her that is causing her to kick and work backwards from there. they will usually display a lot of signs that cows are totally in tune with each other to know the signs. i usually find that cows that are around animals that kick move them off with their head at their head without too much patience. then if they are nice, they will let them back in. but since you don't weigh 1500 pounds, this option is not suitable. you must defuse the dynamite. most people don't have the patience for this. when i say most i am talking about 1 in a thousand, seriously.
you can feel them tighten up in their skin when you are getting to the point when they are going to kick. back off from that and don't work up to the point where the skin tightens. back off earlier, then leave. they will be wondering what the heck you are doing and say to themselves, i was enjoying that, why did you stop. slowly expand outwards and build their trust, always leaving without them getting tight anywhere anytime.
if you are not so inclined to invest this much time, it's over, or you could go the mechanical route with the hooks thingy for dairy cows.