The synoptic gospels agree that Judas was to betray Jesus with a kiss. For example, this is Mark 14:44-45:
Matthew and Luke agree. On the other hand, John contains no mention of the kiss. The internet document "101 Clear Contradictions" says that (in John's gospel) Judas never gets near Jesus. This is John 18:3-5:
I'm inclined to agree that the natural reading of the text is that Judas never came near Jesus. Nevertheless, it doesn't explicitly rule it out, either. The most problematic verse is the one that says Judas was standing with "them", presumably meaning the soldiers. But it's surely possible that his position changed during the incident (especially given the awareness of Judas' motives that Jesus shows in Luke 22:48, which might have made Judas back away).