If you can't get up the courage approach sex, how the heck are you ready to have sex with her?
Long story short. Be attractive. Be bold. Don't be sleazy. Talk about what you're going to do and her ideas on sex seeing as she clearly likes to talk about stuff before she does it. And most girls don't like getting intimate around other people, like at a party, so make it alone. (I'm assuming she's your girlfriend I couldn't quite tell lol)
Talk about what happened at the party too, tell her you were drunk and it was weird, laugh it off, and look deep into her eyes and talk slowly and so on ... I struck out with my last girlfriend recently just like this (she was a virgin, and she dumped me!), and I'd say talk about it openly. Then she'll start thinking about it herself, feel more comfortable, and you'll probably get somewhere physically in the future of your relationship. Good luck!