How do you learn to open yourself to others without the feeling of judgement?

I think it's my fault that I'm not opening myself to others and never taking the time to put myself out there. But I blame the world for my life not going well. And I get in this self doubts like oh am I just ugly, do I sick, am I just boring and scared. All I wanna do really is make some friends and work on my goals. Now I'm not even sure if my goals are right but yes I do want to college, make friends and make family proud.