make friends

I’ve always had horrible problems with relating to others and have always feel like an outsider, that others wouldn’t understand me, as well. Because of this I rarely go out and never approach or even meet the eyes of strangers (whether they’re attractive girls, or not), am uncomfortable in public, and probably appear entirely uninterested when I do want to meet people and live life more. Part of me feels I’ve been dragging my feet because I’m used to this life, used to feeling like an observer, and that I’m safe here, disconnected. How to change?