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Also - when you say, "get her naked" I'm concerned. If a woman is comfortable with being in front of you naked it usually means either she wants to sleep with you (obviously) or she feels NOTHING from you sexually. Since you two haven't hooked up, I'm inclined to think the latter.
Actually I'm more inclined to think that she refuses to take responsibility for her sexuality. The man has to "take her" so that she won't be responsible for having initiated sex. I had a girlfriend like this once. She claimed that 2 people naked in bed with each other didn't mean anything. I think she was full of shit, that she was raped by a male family member when she was younger, and that it warped her ideas about sex. It would explain an awful lot, including the lousy "just lie there" sex we had. I think her psychology was, the man has to take her, so that she doesn't have to be responsible for the sex.
Why didn't she want to take responsibility for sex? In her case she was bi, and had deep issues with strongly heterosexual men, like me. I think that goes along with the (presumed) rape. In contrast, she felt totally differently towards effeminate men. Not a threat, therefore ok for her to take charge of the sex.
OP, I don't know why your "friend" is dancing naked around in front of you, but if you want to fuck her, you should make your move and fuck her. She's full of shit.