Is it normal that everyone thinks good friends should date?

There is this guy I have known since I have been 6. He is 2 years older than me and we have always been really good friends. :] We have been good friends and have had all the same friends for years now. We always flirt and mess around occassionally. About a month ago everyone started saying we should just date. Neither of us have been in a serious relationship for a few years now, so everything thinks it would be good for us to date and have fun. We both have told other people we like each other but neither of us can tell each other we like one another. I do like him, and he told all of our friends that he likes me but I just don't know what to do. There are things holding me back though,, he has baby momma drama and our parents have thier differences but we have managed to stay good friends over the years. His own brother,, also a good friend of mine told me to say fuck all the reasons not to date and just do it,, he thinks it would be really good for both of us and we would both make each other happy. ohh I about forgot about the biggest problem holding us back,, his best friend is my ex boyfriend,, him and I have not been together for 2 years now and I am completly over him but I feel that he still keeps that reason in the back of his head.. ughhh! I am soo confused and have no clue what to do.. :[ I am going to be with him the next 2 weekends and I am worried what is going to happen,, things have already gotten akward between us flirting and what not with everyone pressering us to date. Advise would be great please, I need an outsiders opinion! Thanks!