Just ask her, be honest, be courteous and for heavens sake, above all else, be a gentleman. On a first date, suggest a meeting place for lunch or coffee that is halfway between your place and hers, or maybe even closer to hers to be more gracious if your not picking her up. Since you are the person that did the asking, be prepared to pay and no matter if it goes good or bad, always be on your best behavior. If you don't get a relationship out of it, you may still get a wonderful lifelong friend. I sincerely wish you the best of luck!