Should I make the first move?

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I burned bridges with my best friend a long long time ago. Before that happened I was starting to fall for that person. We tried to take our relationship to the next level, but it turns out I was the only who had feelings, she said that she thought that she was having those feelings to but she realized that she only wanted me as a friend. She was my first love and it took me years to get over her. I had to get away from her because I was too hurt. I've moved on and accepted the fact that it was not meant to be. Just recently I saw her but I was too afraid to make the first move. She is now in a relationship and I have no plans of getting in the way of that. And recently I'm starting to miss her again and I've realized that I miss her as a friend more than when we were going out. Should I make the first and reach out to her or should I just let it be?