Hi everyone so a little background about me
I used to be extremely shy, (I couldn’t even look people in the eyes when talking to them), couldn’t talk to girls, etc it was terrible
This was a year ago, now I’m doing much better, but there are still cracks which show every once in a while.
So I have this thing where if I want to be intimate with someone or escalate with kissing, touching etc I have to “know” them before hand to be comfortable if it’s a complete stranger that’s when things go downhill.

So recently I went out with a some work colleagues it was 1 guy 2 girls
I got to know them on the same night as we went out clubbing so they’re still kinda like strangers to me
Anyways fast forward we’re drunk dancing and the girl colleague who was with my male colleague lets call her Rebecca asked me why I haven’t made out with the other colleague Jane I replied “I don’t think she’s into me” and Rebecca replied with “she into you” but I still didn’t believe her because Jane never showed any signs of attraction. Anyways with this info I still dance with her whatever but nothing physical

At this point we have been dancing for like 2 hours and my colleagues kept commenting and say like “I can’t believe you haven’t kissed her yet etc” so that kinda put me over the edge and I started to be more physical and I made out with her
soon after we made out that she had to go home
Which was kinda sad and cringe a lot because I fumbled just because I wasn’t confident enough.

So my question would be what can I do to stop situations like this from happening in the future?
What do I need to work on?
I would really appreciate any help