How to ask my prof to meet in person to build a connection

I am in a professors research lab, but she doesn't teach so no office hours and our lab meetings are all held virtually. I want to build a relationship for an eventual letter of rec and i appreciate the connection, but I do much better in person. I would ask about career advice, but my end goal is in medicine while she is in psychology. How do i ask her to meet in person just to build a relationship?