I was winging with a friend of mine today and we talked to a nice two-set.

It was a pretty cool convo but we let it drag on for a real long time.
So the girls had to leave and i asked for a girl's number and she just walked away and I got nothin' but humiliation from my best friends ( I should get some new friends).

My sticking point is when I ask for a girl's number. It gets awkward and the girl just walks away.

What might I be able to do in the future to prevent that from happening?

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You miss every shot you don't take.

Sounds to me like your partner was not helping much. When I'm with a wingman. We will agree to take turns on sets as the lead person. If it's his turn to talk, I let him lead the convo. and he is expected to get the numbers. If I lead then I'm suppose to get the numbers. But it sounds like with you guys. Maybe he was doing most the talking and then he got a number and then you jumped in last and asked for a number from the other chick. Well if you do it that way your chances are slim because the other girl is really looking to get the person who is Alpha. And she would assume it is the guy talking the most or the guy who opened the set first. So my advice is to just take turns at getting the numbers. That way there is no pressure on you when it's his turn. And all you have to do is support him. Then when it's your turn he will support you.

Good luck next time. And if you feel that you might need another wingman, your prolly right.

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"Pimpin Ant Easy.... But it's Fun" ... ha ha ha!

TL;DR at bottom, more detailed explanation below

ok, first off, the number

forget about ''getting the number'', it's not some prize, it means litterally nothing to get a girls phone number, the girl and the connection you make with her #1, getting that prize when you walk away is not your goal, it should be irrelivant, just simply making a good impression and being able to further the interaction in the only goal, the number is simply a primary way on doing that when you have to part ways,

so, what is a solution to this?, don't focus on just being stuck in a mind frame of, I have to do or say XYZ or fill ZYZ amount of time then get my prize, this is some needy style thinking, step away from this, no thinking about the future and what will happen, no worrying about what has happened in the past, stay completely in the current moment and descide from each passing moment what you want from the present moment, how do you want to express yourself?, how can you improve your current situation from moment to moment, now when you can remain present without a focus on what is to come, you will find it easier to form that connection and have a more solid consitant interaction

after being able to make your impressions more solid, then the focus becomes what sort of mechanic will be effective to brigde my interaction so that it continues and I can make this connection even stronger and lead this towards sex, well after being de-tached from an interaction, you can think, but you want to not overthink things or become to focused on a single interaction, naturally progression from moment to moment, neither forcing anything, but leading as you want, so naturally one of the easiest ways to progress this interaction, is to state that is your intent, let a girl know you find her interesting and would like to see her again to continue forming a connection (stated in your own genuine words expressed through your own frame congruently), if you have made a solid enough impression/connection, then the girl will be very excited at the idea, and the phone number comes simply as a result (how else will she be able to stay in contact with you so that you guys can work out the logistics?)

TL;DR

ask her on a date instead of just for the number, if she complys or not depends on how bad you suck

GOOD LUCK

If you hand the girl your phone, she'll have a pretty big nutsack to refuse you if she hasn't shown resistance so far.

Dont make a big deal out of it!
There are quite a few tricks into asking her number:
During the conversation make a hint you dont have a lot of time.
Say something like I gotta see a friend in a few minutes or something similiar, then continue the conversation..
Mostly during the conversation I ask if she got FB, if she doesn't give you her number you have a way of contacting her.
Nearing the end of the conversation I say : Hey I really liked our little chat, we've gotta do this again!! Maybe go out have something to drink.
Give me a call or something.. you can hand her your phone, or wait and let her give you her number, or the best she says :I dont even have your number.. Smile give her a neg and give her your number or phone

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Alles ''Onwies''

You need to have closing objectives before even opening the set. You can't just ask who lies more, men or women, then hope that eventually some phone numbers get exchanged when all is said and done. From the very start you should be planting seeds and leading the course of the interaction towards your closing objective. In this case, it's obviously number closing. It sounds like you didn't do that at all.

Once rapport, trust, and attraction have been established, the intuitive next step is to plan your next encounter with each other. You should be leading her towards that from the start, as was already said. There's a million ways to do that.

If for some reason you forget to do that, or the interaction is cut short, you pretty much have to close her on the spot, otherwise she walks out of your life forever, then goes and fucks some other dude. So I would do what Snatch88 said and be like "Are you on Facebook?" which is just a way of saying "I want to contact you in the future." Or just bust out your phone and start entering her name and be like, "I'm gonna' put you in my phone..." If she see's you already starting to enter it, she feel compelled to tell you her number. Again, you don't ask for her number, you basically just tell her to give it to you. Yes, it's abrupt, but if they are about to walk away you have very limited options at that point.

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“Nothing is impossible, the word itself says 'I'm possible'!” ~Audrey Hepburn