Give ur thoughts shold i ask her out or do friendship?

When i was 6 years old (i was in nursery). There was a girl near my house and she was like my best friend, she used to feed me with her hands (she was 7 years old) and i also did the same. We played games (sand throughing on each other). But one day (in winter) , it was little cold she took me to the corner of my hall and she slept on with clothes on. We hugged very tightly (we did'nt knew about sex) and then i pulled down my pant and she pulled down her panty. And she started rubbing her pee pee with my dick. My dick was not erected but it felt so good and we enjoyed that for about 10 minutes and my dick got erected and we were just rubbing our sex organs up and down then her mom called her and we were our clothes and she ran away. After this incident we never talked for 5 years . She became friends with my sister and she came to my house regularly. And we started our friendship again (i think she had forgotten what we have done) , like bestys. One day she and my sister came to me to play hide and seek but i refused and told my sister that i have to talk to Richa (name changed) then i closed the door and i make her sit in my lap and i enjoyed ( clothes on). But after 5 mins she said lets play so we started playing hide & seek. Now i m 18 years old and we don't talk to each other but she lives near my house.