Is it weird to ask

To sit with people at lunch that you know & have talked to a few times but aren’t that close with? Or would you wait to be asked? I’m newer at my work and on lunch, about 4-5 girls sit together and sometimes it makes me feel a little left out. They’re all really nice and we’re all adults, im 25. I don’t have good experiences with girl groups but these are my coworkers and I wonder if it’s weird for me to just ask to sit with them? Or should I wait to be asked?