I'm at an impe right now.?

so i met this girl...and she gave me her phone number, asked if i'd like to attend a concert, and expressed interest in going rock climbing with my buddies.....should i ask her out? i should be experienced enough to handle this, but i don't really want to wreck it. i'm a little hesitant....mainly b/c i've been in this position before, and it hasn't worked out (a few dates, then nothing; or just after the first date)....shouldn't people wait for things to develop? is there such thing as a platonic date? hrm.