There's this girl I really like please help I don't know what to do?

Her and I have gone out a few times and she seemed to have fun and have a good time, but a couple of the times we have gone out there were other people with us. I want to ask her to go out again but I cannot muster up the courage. Especially when I see her with her friends smiling and laughing I feel like she would not enjoy spending time with me. I'm not what you would call "outgoing" nor talkative. Should I ask her out again?