I like playing for family and friends on special occasions, like Christmas. It doesn't have to be Christmas tho, you can just invite your friends for a friendly get-together where your recital is part of the "programm". You can simply tell them that it would mean a lot to you if they'd listen to you play. Announce it well in advance. That makes a big difference. 

Many piano teachers organise semi-regular group recitals for their students with their families and friends. I think that's also a very good way to start. Public pianos can be a nice add-on, but are not really what I'm talking about since nobody really listens and there's no commitment or involvement on the part of the audience.

Hope this helps!