How should I reach out to a girl I have been longtime friends with when things got flirty at a bar?

I went to a bar with a group that included a girl i have been friends with for 13 years. She actually dated one of my friends for 5 years through college. I had too much too drink and so did she. It hit a point we were playing pool and she leaned her body on mine when i was leaning on the wall. I rested my arms around her hips and initiated a few kisses on her forehead and cheek. I really like her but wrote off ever making any move due to knowing she dated a friend until last night. How should I reach out?
How should I reach out to a girl I have been longtime friends with when things got flirty at a bar?
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