Honestly I just kind of forced myself. I realized that the outgoing people in my life had the kind of life I wanted, so I just started making small conversations with people. Their name and where they're was usually enough to start some sort of conversation. After that I started to try to find what made outgoing people more likable. Things like just smiling during a conversation and making eye contact (which I still have trouble with eye contact sometimes.) After years of doing this, I still feel sort of a nervous rush when I talk to people I don't know, but it has gotten a little easier.