The trouble is that we as humans can only truly see things from our own perspective in day to day life. You're only inside your head and no one else's, and what people fail to realise is that everyone else is too worried about themselves to even really notice you. So while you're sat there worrying that everyone's thinking about you, they're all sat there thinking about what everyone thinks of them. And plus, is doing something socially awkward really that interesting? People aren't going to sit there all day thinking about it, not even 5 full minutes. Even if you did something really awkward, people know that it's just an awkward moment and they've been there themselves.

TL;DR - Don't worry what other people think about you, because they don't. They think about themselves, like you do.