How to be social and outgoing?

I’ve always been a shy and quiet for the most part unless I’m around people I am extremely comfortable with. I was at a party and everyone started playing a game. I didn’t really participate and was quiet because I was around people I was not comfortable with. I didn’t want to be judged or made fun of. I noticed other people just having acted so outgoing and like they didn’t have a card in the world. I envy that. I want to not care, not have social anxiety, just go with the flow and live. How do I do that or is It just the way I am? I feel like something is “wrong” with me. Thanks in advance!