Two quotes from two very good friends of mine come to mind.
From my current business partner when I finally convinced him that we should start our own business.
From my roomate in college and best friend at the time.
Quote:
The sadest thing in life is a missed opportunity.
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And, what Harshaw said above it sooooo true, I know it only too well.
Quote:
...the pain of not acting will be much greater than the momentary pain of rejection.
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Most of my past regrets involve situations just exactly like what you've described. Get your nerve up and just go for it. Next time you are dropping her off at her door give her a kiss on the lips goodnight. When you pull away look her right in the eye, if you have that momentary pause and she doesn't turn away, kiss her again, a little longer and a bit more passionate this time.
Carpe Diem!