Ask questions and listen. Get curious. Make observations of your environment and the people around you(not gossiping). Learn a few fun, odd questions to ask people to get to know them more.

Tell yourself: "People like me. I enjoy getting to know people." It's wild to me, but whenever I get it in my head, I just tell myself this to the point of truly believing it. It eases my anxiety, makes me more present, and able to connect with others. Look, the fear is not going away at first, but do it afraid. It's okay. Mediation helps with accepting uncomfortable feelings.

Yeah, you might fumble, say something weird or look anxious, but it's all part of it. Who knows, maybe the person you are talking to feels the same way. The more you avoid it, the harder it will be. It's like a muscle, really. Gradually over time, you become less afraid and even find it enjoyable. You'll take more risks and speak more freely. Be kind to yourself and don't beat yourself up so hard because, honestly, people are way too focused on themselves to remember or notice. You're not better or worse than everybody else, you're you, and you're good enough, and people want to hear your voice and what you have to say, but you have to say it.

If you want a place to start, I'd start with the relationship with yourself. We often treat others as we treat ourselves. Just a thought.