How to start being social if you weren't social at all when you were a kid?

I'm 23 years old and I'm not depressed but here's where I struggle I have no social intuition or don't know what to say in a conversation or how to end the conversation or I think too much about the situation. I was not socialized with kids when I was little and my mother father didn't have any good friends either. I want to succeed and try. But can somebody please give me some direction here.
How to start being social if you weren't social at all when you were a kid?
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