Where do go on a date?

While I've got no problem in asking a girl out, I've never actually done so before. The problem is I wouldn't know where to take her. A movie seems a little childish to me. I feel like going to a restaurant is a little too serious (I'm 20 btw, as is the girl I want to ask out), though it's an option. The only things I can really think of are meeting for coffee, or asking her to join me and my friends for drinks at the bar we usually go to. I do get incredibly awkward talking to girls in front of my friends though for some reason, even though it should actually take the pressure off. Any advice? What's worked for you in the past?

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