Does this girl like me? How do I see her again?

Ok, so this weekend I had to take a test at another school. I know this girl through a friend and had anticipated her being there. During a break portion of the test, I sat down and she came up to me and said hi. I hugged her and we had a conversation. She then asked me if I wanted to go to "in n out" ( a burger joint) with her to which I said yes. She then smiled and gave me a hi-five. When I got out of the testing room she had already gotten out and was with another girl and two guys. I poked her and said hey. It seemed as if the other people were going too. But as we walked into the parking lot they said "ohh sorry we cant go after all" and they left. So we ate at the place. And she offered me a ride home. I said sure. So she drove me home and I said good bye and gave her another hug to which she kinda giggled. Anyways.. I neglected to get her number or anything, and would really like to see her again. What do? Would it be weird to ask our mutual friend? oh btw the friend and her live like 2 houses away from each other.