Should I have kissed her last night?

Last night I took this girl to an Indian restaurant. Afterwards, we drove to a hill overlooking the city skyline. We shared our most intimate feelings. There was a magnetism in the air. She is incredibly beautiful and I knew that she felt attracted to me. We were supposed to be just friends but I think both of us knew inside that it was b.s. In my heart, I wanted to reach out and grab her and give her a long, pionate kiss. I could tell in her eyes that she wanted me to. But, out of respect for our friendship, I didn't want it to get too heated. Should I have seized the moment?