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how to ask a guy out if you are shy?

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Ok, long story short, this guy is new at my work, my friend and I began talking to him... Well we have had one long 30 minute conversation about random stuff, then one night I was working later than he was,... He stood at my work station and talked to me for 25 minutes... He makes me laugh, not easy to do... Well I wanted his phone number but I have come to face the fact that I have a huge fear of rejection, the last time I asked a guy for his number he said he was going to shoot himself... So my friend and he BF gave him my phone number.... An hour later... He texted me, the first night we texted for an hour then tonight 3 hours.... My friends all say that I should ask him out but he's shy. I'm terrified and shy... What do I do??? Is waiting a week or two too long to let him know that I am interested? OMG someone please help... I don't think it is normal for a 21 year old to be having these problems with a 29 year old... :(