Can’t socialize

My family has never allowed me to spend time with friends. I can’t even go to birthday parties. I do online school now but I was going to public school. It’s super frustrating for me because they can’t come to me and I can’t come to them. I’m stuck in the house all day with nothing to do and no one to talk to. I should mention I’m 14 and my counselor wants me to socialize for my mental health. My family knows that but still for some reason won’t allow me to. I feel so isolated 😭 I’m a good kid but the other day I was so fed up I decided to sneak out. It was the most fun I’ve ever had in my life. I finally felt free😁. It doesn’t help that I’m a black girl .😭😤Anyways how should I go about this?