Ask her out now or later?

Hello everyone, Ill try and keep this short and sweet.

I met this girl through a mutual friend on a night out, we talked casually for a while, danced, ended up kissing, went somewhere to talk alone and kissed for what seemed like forever then we went back to our group of friends together, all this totally caught me off guard in a good way.

I look forward to seeing her again, A part of me wants to just ask her if she wants to do something together but I'm not sure if that would be “running before I can walk” and I feel I should follow my instincts and get to know her more while we’re out with our mutual friends, but that could be weeks away and I'm a very impatient person,

I’ve talked to her online and through texts on a few occasions but I hate doing this, Id much rather talk/get to know someone in person.

So I guess my question is, follow my instincts and be patient till the next time I see her or just go for it? (disregarding my fear of rejection)

Thanks for reading