We all have our regrets and we all have had instances where we think "Damn I should have done it differently, I want a do-over". It's better to live life without regrets. If you do this, you'll have an answer either way. If you don't act on it, it will always be a what if. You don't know where you will be 10 weeks down the road, you don't know where this can go.
If you are friend's with her, you already have a good base. Go for it.
Waking up next to a beautiful girl,
Step outside and say hello to my beautiful world.