It's so simple... All I did was to convince myself that even my mistakes are worthwhile. I really believe that when I screw up in a social situation, I'll either be able to recover easily, poke fun at myself and laugh, or learn something about myself and others.

Really it's so easy... Just empty your mind and let whatever happens happen, all the while knowing that whatever you have to contribute will be appreciated by someone.

Worked for me anyway.

EDIT: Oh almost forgot... So how do you achieve this? It's also simple. Talk to people and intentionally sabotage yourself from time to time. Just to get used to the feeling and the rush of being put on the spot. It's easy to do that because you're putting pressure on yourself rather than having someone call you out on something you didn't even realize you did.

EDITx2: I don't want to brag or anything, but just last night I had a txt chat on my cell with a girl who's interested in no strings attached sex. She's into 3somes and has a few girlfriends that she usually invites over for fun. We're meeting this weekend. It's not a done deal or anything, but I swear, this kind of thing NEVER happened to me 6 months ago. I'm turning perfectly fine girls down because I don't have the time these days lol wtf.