We were kissing on her couch, She straddled my waist and moved her nethers in a rubbing motion against me (which is a pretty clear indicator that a girl is aroused and wants to fuck you) I put a hand on her left breast, and we went from there.
Here's a tip for you OP. It's not everything you've built it up to be. Yes it's fun, yes it feels good at the time, but the fact that you're spending time asking people on the internet how to go about getting* a girl to fuck you and what's worse, you're actually reading the responses like they will help in your endeavor to get laid means you've already attached more significance to the act than it actually has. If you care that much and you're so worked up about it, just pay someone to fuck you and get it out of your system.
*getting: That's the other thing that struck me about your posts. You're asking (like a lot of virgins** on the internet) how to "get" someone to have sex with you. You don't. There are no magic words to open someone's thighs or make their dick hard. It happens pretty spontaneously. Just be open to the idea of it and don't be so awkward or nervous that you say something stupid or creepy and you'll get along fine.
** There is no shame to being a virgin. I know there's a negative connotation to that word, particularly amongst virgins, but there really isn't any shame to the state of not having had sex yet. Don't let it define you.
***Use protection, it's a scary world of VD out there and it's not worth having some unpleasant STD that won't go away for a few minutes of pleasure (and children count as an STD too).