He asked me out but I was busy. Can I set up a date?

Haygurl96
Ok so we were walking out to each other cars and I told him that we should hang out sometime because we only see each other during this church thing we are in together. Right on the spot he asked to go get some dinner with him but I had to go pick up my sister. I really want to go out with him but I'm afraid that he will not ask again. Can I set up a date and time or should I just let him do it and see what happens?
Updates
+1 y
What if he was just asking me to go to be nice because I brought up us hanging out?
He asked me out but I was busy. Can I set up a date?
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