This might not help but. Don't be afraid! It's intimidating, as I have been, as much as I don't like to admit, been a very very shy person. Then lately, I've noticed, it won't hurt to just come out of my shell. People will accept me more if I would just let them get to know the real me. The only way that will happen is for you to at least go 50% and just jump in with both feet!

I'm generally on the shy side myself too... Try to do something that's more activity-focused, like a sport or volunteering. Might be a more gradual / less intimidating way to meet people, and you get the bonus of doing something you enjoy in the meantime too!

Practice your small talk skills with random people that you meet- example the person serving you coffee, the person you are in an elevator with, etc... The more you do something, the easier it gets. The best things you can do in a social situation are: smile a lot, ask people questions about themselves, act interested in their answer. If you do, people will be drawn to you. I can't tell you how many times I have had people come up to me and say: I just had to meet you because you were smiling and seemed so friendly. People are attracted to others that act approachable and seem like they are having fun. Also, ask your friends to introduce you to people they know that seem interesting. Realize that people actually are not judging you- most people are self conscious and too focused on themselves to think about you. Good luck.