Never talk to her agin? or go for her and try to be her boyfriend?

So she and your friend like each other. That happens sometime. It's not like she was cheating on you, as you said, you two are friends. She is telling you it was a mistake because you freaked out on her and made her feel pressured into saying that. You need to back off for awhile and stop pressuring her. Now is not the right time or cirstances to start a relationship with her. It sounds like you are only trying to change things from friendship to relationship because she was holding your friend's hand. If that handn't happened would you be asking her out today? You really need to calm down because this is not the way to start getting serious about her. She is going to resent you and break up with you in just a little while telling you that you two were better off as friends.