Search Results: who to take to the dance

So, there's this guy in my dance class whom I dance with in class and chat/text with almost everyday. Our text convos are short but daily.
He came over to say hi when he recognized me in the library last week, but other than that we only see each other on Friday evenings when we have class.
Last Friday (two days ago), he offered to drive me home after class - this was actually the second time, and the first time I declined but this time I said yes (he has a nice car, btw).
The day before that, I actually asked him out to the Mariah Carey concert I got tickets for, and he declined saying he doesn't like crowds... So, that.. blew my chance. I don't want to ask him out a second time... :(
But... Should I? Maybe just ask him to lunch or dinner? Or should I keep waiting? I hate being the one to ask.
There's no reason why we can't go out, it's just that we have barely anything in common except for the fact that we're in a dance class together and we have the same kind of dog. He's an engeneering major; I'm a music peformance+education major. I love Italian food; he hates it. I'm all about concerts, bars, and shopping in the city; he's a stay-at-home-and-chill-with-my-dog kind of person. He doesn't like crowds. I'm all focused on school and my future while he's like, "chill, you take school too seriously." I tend to be oftentimes pessimistic and/or anxious while he's always positive and telling me to chill.