Depends on how long you've been together and if you see the relationship lasting for a long time. I think it's a good idea to live together if it's going to be a super long term relationship and especially if you want to get married in the future. You can't live apart forever.
Have you been together for more than a year? Are you two in a healthy relationship? If yes to these two questions then I recommend you can either do a trial period in which you spend a week with her at her place and see how that goes or you can just jump right in and think positively that it with be an incredible experience.