Finally the Immaculate Virgin, preserved free from all stain of original sin, when the course of her earthly life was finished, was taken up body and soul into heavenly glory, and exalted by the Lord as Queen over all things, so that she might be the more fully conformed to her Son, the Lord of lords and conqueror of sin and death.
Pius XII -- Munificentissimus Deus
It is an infallible dogma that Our Lady was assumed body and soul into heaven. Thus, like Jesus, she is in heaven in her glorified human body, not just her soul. This is a foretaste of what we shall all share one day (please God) when our bodies shall rise from their graves and be reunited with our souls in Heaven.
She did not "ascend" as Jesus ascended, of His own power and volition, but was "assumed", taken up by God.
O Glorious Virgin Mary, Assumed into Heaven, pray for us.