[teekay]

One thing that has worked really well for me in the past was joining Toastmasters International.

This is a group of people who are working on their speaking skills, but the effect goes way beyond improving one's public speaking.

I've seen many introverted people who could barely speak about themselves for one minute during the first "Ice-breaker" presentation undergoing a complete transformation within 6 months.

You'll meet once a week and exercise your communication muscle in a variety of ways. For instance, one fun part of Toastmasters meetings are brief, impromptu speeches on a topic you are given on the spot. There are also many less challenging roles in the meetings, and beginners typically work their way through those to get the experience and lose their fears.

I credit Toastmasters for becoming more engaging and less boring in a social setting ;)

That said, the key is what jamager said: listening and honestly caring about others. That should be the underlying value. I would emphasize that because it's also possible to get really good at public speaking and being very performative without actually connecting with anyone.