There is a famous song that goes, "Quit while you're ahead".
Do you comprehend how that applies to your situation, and to pick up in general?
Our aim should always be to leave women wanting at the peak of satisfaction. Those last moments will remain with her, as an impression of you and she is most likely to associate exactly those type of feelings with your memory. Hence, the better they are, the easier it will get for you.
So, let's take this situation apart, scene by scene :
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I saw this GORGEOUS girl at the bar. AMAZING body, great attitude. Talked with her, made friends with her and her friend (it was the friend's birthday). Said I'd introduce her friend to my friend. He was drunk and acted like an ass. I lost them both.
So far ,so good. Your friend obviously threw a spanner in the works, but then you should've had an idea about his condition.
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Chased after the two. Offered to buy a drink for the birthday girl, not the friend of hers that I wanted. This seemed to work well, showing I wasn't a dick, but I wasn't a pushover for the girl.
I got a drink too. And it is very obvious the girl I want wants a drink, I'm nice, I'm like: You give me your number, you get a drink.
She gives me her number, and gives me specific information of how to contact her.
Well done, you telegraphed your interest to her and even got her number out of the whole interaction. This would've been an ideal time to indulge in some physical escalation and banter, till you finished your drink. After which you could've left while telling her that you'd give her a call.
But, you weren't satisfied with just her number, hence..
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All seems well, we go to the dance floor.
She seems into me, we're getting up close sometimes, making jokes, and then she asks me to buy her another drink. I say "Maybe for a kiss", which DOES NOT WORK.
It shouldn't. There has been absolutely no mention of physical escalation to this point. 'Kissing' is just another rung on a ladder, by the way of analogy, you need to engage in a stream lined escalation process otherwise just blurting out that you want her to kiss you, is going to work but only in the movies. Not reality.
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She's like "That statement sorta creeped me out", and walks away. I sorta follow her. She says "Why are you following me?". I'm thinking I fucked up at this point, and walk off. I was going to go outside, but had to finish my beer first, she thinks I am staring at her (or so her look showed).
Again, your silence didn't help matters, it only made them worse. You could've just told her that you didn't have an idea that you were forward and you wish to simply clear the misunderstanding, that it was a joke.... blah blah blah blah. You get the idea.
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I walk away for like a half hour, come back, she's next to this HUGE buff guy, I try to talk to her, she hugs up on him, he gets in my face. I stand my ground a little, but withdraw.
Smart move. It could've ended up ugly.
Now, to be perfectly frank with you, this is a no go. You've left her with an image of you in pieces, she must think of you as some sort of crazy guy with stalker tendencies. Take this as a learning experience and try not to repeat the same mistakes in your next "pick-up".