What North said, Practice makes Perfect, or at least Good Enough. Social situations are mostly about comfort and confidence; the more you get into them, the more comfortable you get. Think of it like taking a swim in cold water....you get used to it, and eventually enjoy it. And when you enjoy it, more often than not other people will enjoy you.
I don't have a lot of friends, but those I do have, I got because I took the metaphorical plunge. 
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