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It sounds like the situation was stressful. If you want to try and get back together, it would be best that the two of you have your own place.
She has to be able to gain your trust (since you've left in the past) You would also want to be able to manage your stress level and make some short and long term goals for the relationship. If she is willing to reconsider reunification, then the two of you ought to sit down and explore what options you may have.
It is best not to rush into this but take your time and have a clear plan as to how to proceed.
She may be able to understand if she choses to. You've got to re initiate it to her with examples of what had happened.
You can ask her (maybe to dinner and then have coffee afterwords maybe at a coffee house where you may talk ); nothing intimate planed afterwords just taking it one step at a time.