rules for asking girls out?

I'm 25 and I have never been in a romantic relationship with a woman. I never tried to start one in my teenage years, in a nutshell with my mental and emotional state at the time a relationship was a bad idea. Now I think I am ready, but it seems that there are all these rules about trying to start relationships that I never learned. Can anyone give me advice or direct me to somewhere that explains things?

P.S I don't want to be a pick up artist or anything like that.
 
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