How should I become more open and social?

I was born into a family where you were not allowed to express yourself, also growing up we weren’t allowed to experience the world like other normal kids. So inwas basically a child born in prison and raised in prison. I’m coming to an age where it’s time to be on my own and make my own decisions, but the thing is; because I haven’t developed socially, I become more and more afraid to be in my. I’m really really glued to my parents. Does anyone have any ideas to where I can overcome this???