It sounds like you are self conscious about your social skills. I am too. I found it helpful to remind myself that most people do not notice my embarrassment or awkwardness. I remind myself that other people probably feel stupid too. Many people never really learn the best way to be social, to be frank.

What you can do is practice being social. Sometimes I talk to people randomly to test myself: the cashier, the neighbors, etc. It sharpens my social skills.