Here's how I'd do it. This especially fits if you all go out together as a group often.
Make plans for a day...even if it is something as simple as saying "let's go to lunch". Call her up and tell her the plans. Then, after she says yes, say something to the effect of: "Would it be horrible of us if we didn't invite the rest of the group? I think it would be a good opportunity to get to know each other a little better." If she says no, then just brush it off and say something like "You're right, it wouldn't feel right without the gang." It's not too akward, and you get a chance to feel out the situation.
Best of luck to ya...
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