How do you come out of your shell?

How do you come out of your shell? Im 25F and I realized I might be a bit "emotionally stunned": I'm not independent, I'm not confident, I'm not street smart or experienced. I feel like I'm the typical bookish nerd that lacks the social/ life/soft skills aspect. It's weird though because I do feel this fire inside me and longing for adventure and always have. How do you start comming out of your shell? Why has it taken me so long? Am I too late?