Don't know how to just ask her out?
What Girls Said 1
Tell her. If you are nervous about telling her, let her know. She won't judge you for it. If she is being that touchy-feely with you then I think it's highly likely she has something for you too. You need to be the one to step up. Ask her out on a casual date.
What Guys Said 2
You gotta ask her out.
And when you wanna kiss her, count to 3, then just do it.
if she is ready go and tell her about ur feelings she will understand it otherwise u will regret ur past
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