Question

he asked her if she could come with him (change into a direct question )

Answer 1

Answer.
He said to her, "Can you come with me?"

*mark it as BRAINLIEST answer.

Answer 2

To narrate the spoken words of the person it is written in two ways there are:

Direct and indirect speech.

From one person to another it is the usual way to convey a message.  

Direct speech refers to the actual words of the speaker being quoted.  It is enclosed in quotation marks or inverted commas. To introduce the spoken words of the speaker colon or comma is inserted after said.

Whereas, in indirect speech refers to the speech in which the actual words of the speaker are changed due to the words were spoken in the past. Changes occur simultaneously in the sentence with pronouns.  

Therefore, the above sentence in direct speech would be written as:

He said to her, "Can you come with me?"

In direct speech it is formed by quotation marks.