Bottled asking a girl out, should I go back and do it?

Right, so I went out last weekend with a few family members and family friends, one of which proceeded to try and get me to get a girls number who worked at the bar. We did speak but only exchange pleasantries and I was gonna ask her out but, well I bottled it under to pressure of my entire family being there haha.

Now we did kinda hit it off and she was more than willing to give me her number (I wasn’t too drunk at this point so do remember she certainly wasn’t mortified by the idea). I thought she was cute but buckled under the pressure and just told her to ignore my family as it was her first night working at this bar and they were trying to embarass me. I did get her first name so thought about adding her on Facebook or something but that option seemed a bit creepy to me. I obviously know where she works so could go back and ask her out but it’s like… If I go back and she’s not on shift then what do I do? I can’t keep going back to her place of work as I’m fairly sure the word for that is… stalking.

I must end this with saying my dating life has been tragic since a long term relationship ended like 6 years ago. Also, since then I’ve been on like 4 dates and hated 3 of the women I went with. Any advice is much appreciated, as I am hopeless at this stuff.