What is the best way to ask a girl for her number or a first date if she is just a Facebook friend?

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You should probably get to know her a bit first. Talk with her about the circumstances that led you to become Facebook friends. Maybe the friend you have in common.

If you literally don’t have anything tying you two together then you’re in cold-calling territory and you might as well just do anything.

See if you two can relate together and if so, ask for her number when one of you has to go. Keep it fun and light.