Should I send her a friend request on Facebook?

[Prodigy]

Some background info:
I haven't seen or talked to this girl in a few years now, since about middle school. I'm in college now. But one day I was really curious to see if she had a Facebook and I ended up finding her somehow. We didn't go to the same school so I really only saw her outside of school, but the few times I saw her we hung out sometimes just by ourselves and other times with my cousins. We only saw each other a couple times, but we always hung out and it always seemed like we've known each years so I guess there was a strong connection there. But the main thing is would it be weird to send her a friend request? I don't want her to think I was stalking her, I just want to get back in touch with her and see how she's been doing after all these years. Should I send a message first? What should I say?

Any help would be greatly appreciated. Thanks.