How to hook up with a friend around people you know?

There's this girl I've been friends with the whole semester but we haven't hooked up because of a mutual friend she'd been dating that she broke up with over the summer. As the time has been going on, we have grown much closer and she always invites me out with her and she invited me to the bar for new year's. The only dilemma is I'm not great with the bar scene and some of my friends might be around too. How should I hook up with her?