Scared of What Other People Will Think

I have liked this guy since I first meet him, but I am afraid of what other people will think if I ask him out like I want to. He is really nice and we have a lot in common. He helped me through the toughest thing that I have ever had to go through losing my brother and we both love to talk so we are like the best match, but I hate thinking that people judge me so I can't ask him out.