This Bible contradiction is from the Skeptic's Annotated Bible.
Yes, he asked him directly
Matthew 8:5-8 View context
And when Jesus was entered into Capernaum, there came unto him a centurion, beseeching him,
And saying, Lord, my servant lieth at home sick of the palsy, grievously tormented.
And Jesus saith unto him, I will come and heal him.
The centurion answered and said, Lord, I am not worthy that thou shouldest come under my roof: but speak the word only, and my servant shall be healed.
No, he sent others to ask for him
Luke 7:1-7 View context
Now when he had ended all his sayings in the audience of the people, he entered into Capernaum.
And a certain centurion's servant, who was dear unto him, was sick, and ready to die.
And when he heard of Jesus, he sent unto him the elders of the Jews, beseeching him that he would come and heal his servant.
And when they came to Jesus, they besought him instantly, saying, That he was worthy for whom he should do this:
For he loveth our nation, and he hath built us a synagogue.
Then Jesus went with them. And when he was now not far from the house, the centurion sent friends to him, saying unto him, Lord, trouble not thyself: for I am not worthy that thou shouldest enter under my roof:
Wherefore neither thought I myself worthy to come unto thee: but say in a word, and my servant shall be healed.