A bit of back story first.

I had been dating off and on and wound up in some terrible relationships. I took about two years off before trying again. I've been on a few dates and one 3 month relationship since, but not anything amazing.

My problem is this: Last night I was out at a bar with a few friends and this girl was eyeing me. I did all of the distance language and she reciprocated. Our group then stood up to leave and she grabbed my hand and pulled me in to dance for a bit. Soon after that I leaned in and said "I've gotta head out, I'm driving". She looked at me like she was waiting for an invite and put her hand on my thigh. I just walked away...

Now, I've been in this same spot before in similar situations and always when I'm talking to women I don't think about sex, I instead go straight to friend. It's fucking torture! I made out with this girl the other night and fucking left her in a room alone. Only after leaving do I realize what was going on and regret sets in.

Has anyone else had this happen to them? Is there something any of you know I can do to get over this?