<human>: Can you condense the text into a few key points?

So Reddit, here goes nothing, Last night me and my best friend of 4 years started talking about moving towards a romantic relationship, it is something we both want, we just are unsure of how to transition into it, but let me give you the back story:

4 years ago I met this absolutely amazing girl at a bonfire in college, fast forward a few months after that, and we tried dating for about 3 months, before we broke up, as she was struggling with some issues from a previous relationship, and some other pretty heavy stuff, Im going to leave it at that. We broke up, talked on and off for a few weeks, then reconnected after several months and became extremely close friends, and I have helped her with her struggles a lot over the years. over these 4 years, I have dated a few other girls, but dont feel quite what I feel when I am around this girl, and to everybody who knows us (our parents included) think we are a couple, even though we dont kiss, hold hands, or do any of that other lover dovey stuff. 

Last night though something changed, I found myself grabbing her hand as we walked through a corn-maze, and then found my arm around her with her head on my shoulder on the way to take her home. Once we got home, we sat down and had this long talk. 

We talked about her past, my past, what we both want in a relationship, and that we both feel we want to go into one together, but we dont know how to transition to it, and we dont want to make it weird, nor do we want to set our selves up to fail or risk losing our friendship over this. Does anybody have any good advice on how we can turn our friendship into a succesful romantic relationship?
<bot>: Dated this girl for 3 months, we broke up, became very close friends, and now we want to try a relationship again, but dont know how to transition into it.