Today, I took a new co-worker (HB7) out to lunch. I introduced myself and asked her right on the spot to have lunch with me. She excitedly came with. Unfortunately, some other co workers tagged along with us as well. The entire time I was totally clueless on what to do. I made small talk with her on the way to lunch, but I was scared shitless to do any sort of significant verbal or physical escalation- besides some light kino and whatnot, I didn't take much action. I actually tried to limit our conversation as much as possible. During lunch and on the way back from lunch I decided to not talk to her at all and I let her talk to another coworker. I figured that unless it was her and I, one on one, then I was only digging myself into a hole with her. 

1) I was fearful that it might be a bad environment to make a move on her with other coworkers around.

2) Her uncle is in the company as well, and I didn't want to get a bad reputation with him

I'm not worried about this girl specifically, but  I would like some advice on what I could have improved on or changed for future situations with other women. Did it make sense for me to limit my communication with her due to the fact it was our first time out and other coworkers were with us