It seems to me that you are much too worried about what others think. By asking her out in a group, you are basically giving both of you a low-stress situation to see if you two really like each other beyond just exchanging looks. If you are worried that others will tease you for asking her out, then I'm not sure you are ready for this step. If you care about what others think you are going to miss out on the great moments that really define your life.
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