Push yourself to get to know and speak to people. Give yourself a pep talk, positive self talk, and it will make it easier to put yourself out there. Once you get over the hurdle of saying "hi" or simply asking "how are you" you will have set a good impression and gotten practice with conversation.
Go to events where you can meet people who have a similar lifestyle, have similar interests or are in the same community. Your local library is a good place to start looking, so is online. Speak to your peers or coworkers. Any chance at exposing yourself to interaction, take it. The worst thing to do for yourself is to not try.
I know you're scared, I understand what you're going through, struggling with anxiety myself. But once you find the right people you vibe with, you can always stick primarily to a small circle. That's not to mention socializing online, which you've already started! Good luck!